SI-DeviceNet

User Guide

Distributor for:
 EPA Drives

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comes to individual service & comprehensive services.

If you have any questions about the product, please feel free
to call us: Tel: +49 (0)6181 – 9704 – 0

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Author: Nidec Control Techniques Ltd

Release: 3 / 01.2018

Article: SI-DeviceNet
User Guide
SI-DeviceNet

Part Number: 0478-0032-03

Issue Number: 3
 Original Instructions
For the purposes of compliance with the EU Machinery Directive 2006/42/EC, the English version of this manual
is the Original Instructions. Manuals in other languages are Translations of the Original Instructions.

Documentation
Manuals are available to download from the following locations: http://www.drive-setup.com/ctdownloads

The information contained in this manual is believed to be correct at the time of printing and does not form part of
any contract. The manufacturer reserves the right to change the specification of the product and its performance,
and the contents of the manual, without notice.

Warranty and Liability

In no event and under no circumstances shall the manufacturer be liable for damages and failures due to misuse,
abuse, improper installation, or abnormal conditions of temperature, dust, or corrosion, or failures due to
operation outside the published ratings. The manufacturer is not liable for consequential and incidental damages.
Contact the supplier of the drive for full details of the warranty terms.

Environmental policy
Control Techniques Ltd operates an Environmental Management System (EMS) that conforms to the
International Standard ISO 14001.

Further information on our Environmental Policy can be found at: http://www.drive-setup.com/environment

Restriction of Hazardous Substances (RoHS)

The products covered by this manual comply with European and International regulations on the Restriction of Haz-
ardous Substances including EU directive 2011/65/EU and the Chinese Administrative Measures for Restriction of
Hazardous Substances in Electrical and Electronic Products.

Disposal and Recycling (WEEE)

When electronic products reach the end of their useful life, they must not be disposed of along
with domestic waste but should be recycled by a specialist recycler of electronic equipment.
Control Techniques products are designed to be easily dismantled into their major component
parts for efficient recycling. The majority of materials used in the product are suitable for
recycling.

Product packaging is of good quality and can be re-used. Large products are packed in wooden
crates. Smaller products are packaged in strong cardboard cartons which have a high recycled
fibre content. Cartons can be re-used and recycled. Polythene, used in protective film and bags
for wrapping the product, can be recycled. When preparing to recycle or dispose of any product
or packaging, please observe local legislation and best practice.
REACH legislation
EC Regulation 1907/2006 on the Registration, Evaluation, Authorisation and restriction of Chemicals (REACH)
requires the supplier of an article to inform the recipient if it contains more than a specified proportion of any
substance which is considered by the European Chemicals Agency (ECHA) to be a Substance of Very High
Concern (SVHC) and is therefore listed by them as a candidate for compulsory authorisation.

Further information on our compliance with REACH can be found at: http://www.drive-setup.com/reach

Registered Office
Nidec Control Techniques Ltd
The Gro
Newtown
Powys
SY16 3BE
UK
Registered in England and Wales. Company Reg. No. 01236886.
Copyright
The contents of this publication are believed to be correct at the time of printing. In the interests of a commitment
to a policy of continuous development and improvement, the manufacturer reserves the right to change the
specification of the product or its performance, or the contents of the guide, without notice.

All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any means,
electrical or mechanical including photocopying, recording or by an information storage or retrieval system,
without permission in writing from the publisher.

Copyright © January 2018 Nidec Control Techniques Ltd

 Contents
1 Safety information ..........................................................6
1.1 Warnings, Cautions and Notes ................................................................6
1.2 Important safety information. Hazards.
Competence of designers and installers .................................................6
1.3 Responsibility ..........................................................................................6
1.4 Compliance with regulations ...................................................................6
1.5 Electrical hazards ....................................................................................7
1.6 Stored electrical charge ...........................................................................7
1.7 Mechanical hazards ................................................................................7
1.8 Access to equipment ...............................................................................7
1.9 Environmental limits ................................................................................8
1.10 Hazardous environments ........................................................................8
1.11 Motor .......................................................................................................8
1.12 Mechanical brake control ........................................................................8
1.13 Adjusting parameters ..............................................................................8
1.14 Electromagnetic compatibility (EMC) ......................................................8

2 Introduction ....................................................................9
2.1 What Is DeviceNet? .................................................................................9
2.2 What is SI-DeviceNet? ..........................................................................11
2.3 General specification .............................................................................11
2.4 Back-up power supply ...........................................................................11
2.5 Option Module identification ..................................................................12
2.6 Product Conformance Certificate ..........................................................12
2.7 Software Statement ...............................................................................12
2.8 Conventions used in this guide .............................................................13

3 Mechanical installation ................................................14

3.1 General installation ................................................................................14

4 Electrical installation ...................................................17

4.1 SI-DeviceNet terminal descriptions .......................................................17
4.2 SI-DeviceNet connections .....................................................................18
4.3 DeviceNet cable ....................................................................................18
4.4 DeviceNet network termination .............................................................19
4.5 SI-DeviceNet cable shield connections .................................................19
4.6 DeviceNet ground point .........................................................................20
4.7 Maximum network length ......................................................................20
4.8 Spurs .....................................................................................................20
4.9 Minimum node to node cable length .....................................................20

5 Getting started ..............................................................21

5.1 Parameter save and restore ..................................................................23
5.2 Module reset ..........................................................................................23
5.3 Restoring module parameter default values ..........................................23
5.4 Single Line Parameters .........................................................................23

4 SI-DeviceNet User Guide

Issue Number: 3
 6 Parameters ....................................................................30
6.1 Menus ....................................................................................................30
6.2 Module menu 0 - Module Information ....................................................30
6.3 Module menu 1 - DeviceNet Setup .......................................................33
6.4 Module menu 2 - Input Mappings ..........................................................45
6.5 Module menu 3 - Output Mappings .......................................................46
6.6 Module menu 4 - Fault Values ..............................................................47

7 Non cyclic data .............................................................49

7.1 Introduction ............................................................................................49
7.2 Explicit parameter access .....................................................................49

8 Control / status word ...................................................50

8.1 What are control and status words? ......................................................50
8.2 Control word ..........................................................................................50
8.3 Status word ...........................................................................................52

9 EDS Files .......................................................................54

9.1 What are EDS files? ..............................................................................54
9.2 Generic EDS files ..................................................................................54

10 Advanced Features ......................................................55

10.1 Supported Drive assembly objects ........................................................55

11 DeviceNet Objects ........................................................59

11.1 Identity Object .......................................................................................59
11.2 SI-DeviceNet Object ..............................................................................62
11.3 Motor Data Object .................................................................................63
11.4 Control Supervisor .................................................................................65
11.5 AC/DC Drive Object ..............................................................................68
11.6 Control Techniques Object ....................................................................71

12 Diagnostics ...................................................................72
12.1 Overview ...............................................................................................72

13 Glossary Of Terms .......................................................76

SI-DeviceNet User Guide 5

Issue Number: 3
1 Safety information
1.1 Warnings, Cautions and Notes

A Warning contains information, which is essential for avoiding a safety hazard.

WARNING

A Caution contains information, which is necessary for avoiding a risk of damage to the
product or other equipment.
CAUTION

NOTE A Note contains information which helps to ensure correct operation of the product.

1.2 Important safety information. Hazards. Competence of

designers and installers
This guide applies to products which control electric motors either directly (drives) or
indirectly (controllers, option modules and other auxiliary equipment and accessories).
In all cases the hazards associated with powerful electrical drives are present, and all
safety information relating to drives and associated equipment must be observed.
Specific warnings are given at the relevant places in this guide.
Drives and controllers are intended as components for professional incorporation into
complete systems. If installed incorrectly they may present a safety hazard. The drive
uses high voltages and currents, carries a high level of stored electrical energy, and is
used to control equipment which can cause injury. Close attention is required to the
electrical installation and the system design to avoid hazards either in normal operation
or in the event of equipment malfunction. System design, installation, commissioning/
start-up and maintenance must be carried out by personnel who have the necessary
training and competence. They must read this safety information and this guide
carefully.

1.3 Responsibility
It is the responsibility of the installer to ensure that the equipment is installed correctly
with regard to all instructions given in this guide. They must give due consideration to
the safety of the complete system, so as to avoid the risk of injury both in normal
operation and in the event of a fault or of reasonably foreseeable misuse.
The manufacturer accepts no liability for any consequences resulting from
inappropriate, negligent or incorrect installation of the equipment.

1.4 Compliance with regulations

The installer is responsible for complying with all relevant regulations, such as national
wiring regulations, accident prevention regulations and electromagnetic compatibility
(EMC) regulations. Particular attention must be given to the cross-sectional areas of
conductors, the selection of fuses or other protection, and protective ground (earth)
connections.
This guide contains instructions for achieving compliance with specific EMC standards.

6 SI-DeviceNet User Guide

Issue Number: 3
 All machinery to be supplied within the European Union in which this product is used

information
must comply with the following directives:

Safety
2006/42/EC Safety of machinery.
2014/30/EU: Electromagnetic Compatibility.

Introduction
1.5 Electrical hazards
The voltages used in the drive can cause severe electrical shock and/or burns, and
could be lethal. Extreme care is necessary at all times when working with or adjacent to

Mechanical
installation
the drive. Hazardous voltage may be present in any of the following locations:
• AC and DC supply cables and connections
• Output cables and connections

installation
Electrical
• Many internal parts of the drive, and external option units
Unless otherwise indicated, control terminals are single insulated and must not be
touched.
The supply must be disconnected by an approved electrical isolation device before

Getting
started
gaining access to the electrical connections.
The STOP and Safe Torque Off functions of the drive do not isolate dangerous voltages
from the output of the drive or from any external option unit.

Parameters
The drive must be installed in accordance with the instructions given in this guide.
Failure to observe the instructions could result in a fire hazard.

1.6 Stored electrical charge

Non cyclic
data
The drive contains capacitors that remain charged to a potentially lethal voltage after the
AC supply has been disconnected. If the drive has been energized, the AC supply must
be isolated at least ten minutes before work may continue.

status word
Control /
1.7 Mechanical hazards
Careful consideration must be given to the functions of the drive or controller which
might result in a hazard, either through their intended behaviour or through incorrect

EDS Files
operation due to a fault. In any application where a malfunction of the drive or its control
system could lead to or allow damage, loss or injury, a risk analysis must be carried out,
and where necessary, further measures taken to reduce the risk - for example, an over-
speed protection device in case of failure of the speed control, or a fail-safe mechanical

Advanced
Features
brake in case of loss of motor braking.
With the sole exception of the Safe Torque Off function, none of the drive
functions must be used to ensure safety of personnel, i.e. they must not be used
DeviceNet
Objects

for safety-related functions.

The Safe Torque Off function may be used in a safety-related application. The system
designer is responsible for ensuring that the complete system is safe and designed
Diagnostics

correctly according to the relevant safety standards.

The design of safety-related control systems must only be done by personnel with the
required training and experience. The Safe Torque Off function will only ensure the
safety of a machine if it is correctly incorporated into a complete safety system. The
Glossary Of
Terms

system must be subject to a risk assessment to confirm that the residual risk of an
unsafe event is at an acceptable level for the application.

1.8 Access to equipment

Index

Access must be restricted to authorized personnel only. Safety regulations which apply
at the place of use must be complied with.

SI-DeviceNet User Guide 7

Issue Number: 3
1.9 Environmental limits
Instructions in this guide regarding transport, storage, installation and use of the
equipment must be complied with, including the specified environmental limits. This
includes temperature, humidity, contamination, shock and vibration. Drives must not be
subjected to excessive physical force.

1.10 Hazardous environments

The equipment must not be installed in a hazardous environment (i.e. a potentially
explosive environment).

1.11 Motor
The safety of the motor under variable speed conditions must be ensured.
To avoid the risk of physical injury, do not exceed the maximum specified speed of the
motor.
Low speeds may cause the motor to overheat because the cooling fan becomes less
effective, causing a fire hazard. The motor should be installed with a protection
thermistor. If necessary, an electric forced vent fan should be used.
The values of the motor parameters set in the drive affect the protection of the motor.
The default values in the drive must not be relied upon. It is essential that the correct
value is entered in the Motor Rated Current parameter.

1.12 Mechanical brake control

Any brake control functions are provided to allow well co-ordinated operation of an
external brake with the drive. While both hardware and software are designed to high
standards of quality and robustness, they are not intended for use as safety functions,
i.e. where a fault or failure would result in a risk of injury. In any application where the
incorrect operation of the brake release mechanism could result in injury, independent
protection devices of proven integrity must also be incorporated.

1.13 Adjusting parameters

Some parameters have a profound effect on the operation of the drive. They must not
be altered without careful consideration of the impact on the controlled system.
Measures must be taken to prevent unwanted changes due to error or tampering.

1.14 Electromagnetic compatibility (EMC)

Installation instructions for a range of EMC environments are provided in the relevant
Power Installation Guide. If the installation is poorly designed or other equipment does
not comply with suitable standards for EMC, the product might cause or suffer from
disturbance due to electromagnetic interaction with other equipment. It is the
responsibility of the installer to ensure that the equipment or system into which the
product is incorporated complies with the relevant EMC legislation in the place of use.

8 SI-DeviceNet User Guide

Issue Number: 3
 information
2 Introduction

Safety
2.1 What Is DeviceNet?

Introduction
DeviceNet is a networking system that falls into the generic category of Fieldbus.
Fieldbuses are generally defined as industrial networking systems that are intended to
replace traditional wiring systems. Figure 2-1 shows the traditional cabling requirements

Mechanical
installation
to transfer signals between a controller and two nodes.
Figure 2-1 SI-DeviceNet Traditional cable layout

Hardwired controller

installation
Electrical
Analog 1 Analog 2
Digital 1A Digital 1B Digital 2A Digital 2B

Getting
started
Parameters
Non cyclic
data
Digital 2A
Digital 1A

status word
Control /
2
Analog 1 Analog 2
1

Digital 2B

EDS Files
Digital 1B

Advanced
Features
Table 2-1 details how the wiring is used to communicate data between the controller and
the nodes. Each signal that is communicated requires one signal wire giving a total of 66
signal wires plus a 0V return. DeviceNet
Objects

Table 2-1 Traditional wiring details

Number of
Type Source / Destination Description
signals
Diagnostics

digital inputs node 1 to master status signals

16
digital outputs controller to slave 1 control signals
1 analog output controller to slave 1 control signal
Glossary Of

digital inputs node 2 to master status signals

Terms

16
digital outputs controller to slave 2 control signals
1 analog output controller to slave 2 control signal
Index

SI-DeviceNet User Guide 9

Issue Number: 3
 A fieldbus topology such as DeviceNet allows the same configuration to be realised
using only 2 signal wires plus a shield and power. This method of communication saves
significantly on the amount of cabling required and can improve overall system
reliability, as the number of inter-connections is greatly reduced.
Figure 2-2 shows a typical DeviceNet system transferring the same signals as given in
the traditionally wired example. The signals are now transmitted by converting them into
a serial data stream which is received by the master as if they were connected using
traditional wiring. The data stream on DeviceNet allows up to 56 (28 input and 28
output) independent values to be sent or received by the master, there are also methods
available (non-cyclic data) to allow random access to drive parameters.
Figure 2-2 DeviceNet overview

DeviceNet master
Analog 1 Analog 2
Digital 1A Digital 1B Digital 2A Digital 2B

Digital 2A
Digital 1A
Node 1

Node 2

Analog 1 Analog 2
Digital 2B
Digital 1B

Table 2-2 Data mappings for SI-DeviceNet

Number of
Type Source / Destination Description
network words
digital inputs slave 1 to master status signals
digital outputs master to slave 1 control signals
analog output master to slave 1 control signal
1
digital inputs slave 2 to master status signals
digital outputs master to slave 2 control signals
analog output master to slave 2 control signal

10 SI-DeviceNet User Guide

Issue Number: 3
 Table 2-2 details the number of data words used to communicate the signals using the

information
DeviceNet network. It can be seen that the resulting reduction in cabling is significant.

Safety
DeviceNet can transfer data using two distinct modes. The first of these modes is cyclic
where signals are sent in predefined blocks at regular intervals. This is the equivalent of
the hard-wired example above in Figure 2-1.

Introduction
The second method of transfer is called non-cyclic data and is used for sending values
that only need to be changed occasionally or where the source or destination of the
signal changes; this is the equivalent of a temporary patch lead that is removed after

Mechanical
installation
use.

2.2 What is SI-DeviceNet?

SI-DeviceNet is a Fieldbus Option Module which can be installed to the expansion

installation
Electrical
slot(s) in Unidrive M to provide DeviceNet slave connectivity.
It is possible to use more than one SI-DeviceNet or a combination of SI-DeviceNet and
other Option Modules to provide additional functionality such as extended I/O, gateway
functionality, or additional PLC features.

Getting
started
Figure 2-3 SI-DeviceNet Option Module

Parameters
Non cyclic
data
status word
Control /
2.3 General specification
• Supported data rates (bits per s): 500 k, 250 k, 125 k.

EDS Files
• 1 to 28 input/output polled data words supported.
• Explicit communications (non-cyclic) provides access to all drive parameters.
• 8 pre-defined DeviceNet profiles supported.

Advanced
2.4 Back-up power supply Features
The required drive can be connected to a back-up power supply. This keeps the control DeviceNet

electronics and Option Module powered up, allowing the SI-DeviceNet to continue
Objects

communicating with the DeviceNet master controller when the line power to the drive is
switched off.
Diagnostics

NOTE The back-up supply is provided through the drive and not the connections on SI-
DeviceNet, which have an alternative use.
Glossary Of
Terms
Index

SI-DeviceNet User Guide 11

Issue Number: 3
2.5 Option Module identification
SI-DeviceNet can be identified by:
1. The label located on the top of the Option Module.
2. The color coding across the front of the SI-DeviceNet (dark grey).
Figure 2-4 SI-DeviceNet labels

SI-DeviceNET
82400000018100
S/N : 8000001001 1714

S/N : 8000001001

2.5.1 Date code format

The date code is four numbers. The first two numbers indicate the year and the
remaining numbers indicate the week of the year in which the drive was built.
Example:
A date code of 1710 would correspond to week 10 of year 2017.

2.6 Product Conformance Certificate

SI-DeviceNet has been awarded full DeviceNet Conformance Certification by the Open
DeviceNet Vendors Association (ODVA). A copy of the certificate is available on request
from your supplier or local Control Techniques Drive Centre.

2.7 Software Statement

This Option module is supplied with the latest software version. When retro-fitting to an
existing system, all software versions should be verified to confirm the same
functionality as Option modules of the same type already present. This also applies to
products returned from a Control Techniques Service Centre or Repair Centre. If there is
any doubt please contact the supplier of the product.
The software version of the Option module can be identified by looking at Pr MM.002
where MM is the relevant menu number for the Option module slot being used. See
Pr MM.002 description later in this manual for more information. The software version
takes the form of ww.xx.yy.zz seen in MM.002.

12 SI-DeviceNet User Guide

Issue Number: 3
2.8 Conventions used in this guide

information
Safety
The configuration of the host drive and Option Module is done using menus and
parameters. A menu is a logical collection of parameters that have similar functionality.
In the case of an Options Module, the parameters will appear in menu 15, 16 or 17

Introduction
depending on which slot the module is installed to. The menu is determined by the
number before the decimal point.
The method used to determine the menu or parameter is as follows:

Mechanical
installation
• Pr S.mm.ppp - Where S signifies the Option module slot number and mm.ppp
signifies the menu and parameter number of the Option module's internal menus
and parameters.
• Pr MM.ppp - Where MM signifies the menu allocated to the Option module set-up

installation
Electrical
menu and ppp signifies the parameter number.
• Pr mm.000 - Signifies parameter number 000 in any drive menu.

Getting
started
Parameters
Non cyclic
data
status word
Control /
EDS Files
Advanced
Features
DeviceNet
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 13

Issue Number: 3
3 Mechanical installation

Before installing or removing an option module from any drive, ensure the AC supply
has been disconnected for at least 10 minutes and refer to Chapter 1 Safety
information on page 6. If using a DC bus supply ensure this is fully discharged before
WARNING
working on any drive or option module.

3.1 General installation

The installation of an option module is illustrated in Figure 3-1.
Installation of the various option modules is illustrated in the following diagrams.
Figure 3-1 Installation of an SI option module on Unidrive M200 to M400 (sizes 2 to 4)

1
• With the option module tilted slightly backwards, align and locate the two holes in the rear of the
option module onto the two tabs (1) on the drive.
• Place the option module onto the drive as shown in (2) until the module clicks into place. The
terminal cover on the drive holds the option module in place, so this must now be replaced.
NOTE

The above diagram is for illustration only, the actual option module may be different to the one
shown here.

NOTE

Option modules can only be installed on drives that have the option module slot functionality.

14 SI-DeviceNet User Guide

Issue Number: 3
Figure 3-2 Installation of an SI option module on Unidrive M200 to M400 (sizes 5 to 9)

information
Safety
Introduction
Mechanical
installation
2

installation
Electrical
Getting
started
Parameters
Non cyclic
data
1

status word
Control /
EDS Files
• Place the option module onto the drive as shown in (2) until the module clicks into place. The
terminal cover on the drive holds the option module in place, so this must now be replaced.

Advanced
Features
DeviceNet
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 15

Issue Number: 3
Figure 3-3 Installation of an SI option module on Unidrive M600 to M702

NOTE
Option module slots must be used in the following order: (Slot 3), (Slot 2) then (Slot 1).
• Move the option module in the direction shown (1/2).
• Align and insert the option module tab into the slot provided. This is highlighted in the detailed
view (A).
• Press down on the option module until it clicks into place.

16 SI-DeviceNet User Guide

Issue Number: 3
 information
4 Electrical installation

Safety
4.1 SI-DeviceNet terminal descriptions

Introduction
SI-DeviceNet has a standard 5-way screw terminal block connector (shown on the right)
for the DeviceNet network.
Figure 4-1 SI-DeviceNet - connector view

Mechanical
installation
1 5

installation
Electrical
Getting
started
Table 4-1 SI-DeviceNet terminal descriptions
5-way

Parameters
Function Description
terminal
1 0V 0 V DeviceNet external supply
2 CAN-L Negative data line

Non cyclic
3 Shield Cable braided shield connection

data
4 CAN-H Positive data line
5 +24 V +24 V DeviceNet external supply

status word
Control /
NOTE The external supply terminals provide power for the DeviceNet transceiver circuitry, but
do NOT provide power to keep the SI-DeviceNet operating in the event of the mains pow-
er supply loss to the drive. An external supply will keep the DeviceNet transceivers pow-

EDS Files
ered up and the network load characteristics constant in the event of loss of power to the
drive.
Any external supply must be suitably installed to prevent noise on the network.
Connecting pins 1 and 5 to an external supply allows the line driver circuitry to remain

Advanced
Features
powered when the drive and the SI-DeviceNet module are turned off. This 24 V input
CAUTION does not allow SI-DeviceNet to continue communicating.
DeviceNet
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 17

Issue Number: 3
4.2 SI-DeviceNet connections
To connect SI-DeviceNet to the DeviceNet network, make the connections as shown in
the diagram below. The length of the "pigtail" shield connection must be kept as short as
possible.
Figure 4-2 SI-DeviceNet connections

Cable

SI-DeviceNet
2125576532

1 2 3 4 5

4.3 DeviceNet cable

DeviceNet cable has 2 twisted pairs plus an overall shielding. DeviceNet has a specified
color code, and it is important that this code is maintained. The data wires are white and
blue, and the network power supply wires are red and black.
Table 4-2 DeviceNet cable color codes
Terminal Cable Data signal Description
1 Black 0V 0 V external power supply
2 Blue CAN-L Negative data line
3 Braided Shield Shield Cable shield
4 White CAN-H Positive data line
5 Red +24 V +24 V external power supply
DeviceNet networks run at high data rates and require cable specifically designed to
carry high frequency signals. Low quality cable will attenuate the signals and may
render the signal unreadable for the other nodes on the network. Cable specifications
and a list of approved manufacturers of cable for use on DeviceNet networks is
available on the Open DeviceNet Vendors Association web site at www.odva.org.

NOTE Control Techniques can only guarantee correct and reliable operation of SI-DeviceNet if
all other equipment installed on the DeviceNet network (including the network cable) has
been approved by the ODVA.

18 SI-DeviceNet User Guide

Issue Number: 3
4.4 DeviceNet network termination

information
Safety
It is very important in high-speed communications networks that the network
communications cable is installed with the specified termination resistor network at each
end of the cable segment. This prevents signals from being reflected back down the

Introduction
cable and causing interference.
During installation of a DeviceNet network, 120  0.25 W termination resistors should
be installed across the CAN-H and CAN-L lines at both ends of the network segment, as
shown in Figure 4-3 below.

Mechanical
installation
Figure 4-3 DeviceNet network termination

installation
Electrical
Getting
started
Cable

SI-DeviceNet

Parameters
2125576532

1 2 3 4 5

Non cyclic
data
120 
0.25 W

status word
Control /
Failure to terminate a network correctly can seriously affect the operation of the network.

EDS Files
NOTE
If the correct termination resistors are not installed, the noise immunity of the network is
greatly reduced.

If too many termination resistors are installed on a DeviceNet network, the network will

Advanced
Features
be over-loaded, resulting in reduced signal levels. This may cause nodes to miss some
bits of information, resulting in potential transmission errors.

4.5 SI-DeviceNet cable shield connections

DeviceNet
Objects

The SI-DeviceNet should be wired with the cable shields isolated from ground at each
drive. The cable shields should be linked together at the point where they emerge from
the cable, and formed into a short pigtail to be connected to pin 3 on the DeviceNet
Diagnostics

connector.

NOTE The DeviceNet cable can be tie-wrapped to the grounding bar or local convenient mount-
ing that is not live to provide strain relief, but the DeviceNet cable shield must be kept
Glossary Of

isolated from ground at each node. The only exception to this is the DeviceNet ground
Terms

point. Refer to section 4.6 DeviceNet ground point on page 20.

Index

SI-DeviceNet User Guide 19

Issue Number: 3
4.6 DeviceNet ground point
The DeviceNet cable shield must be grounded AT ONE POINT only, usually near the
centre point of the cable run. This is to prevent the cable shield from becoming live in
the event of catastrophic failure of another device on the DeviceNet network.

4.7 Maximum network length

The maximum number of nodes that can be connected to a single DeviceNet network
segment is 64. The maximum length of network cable for a DeviceNet network is
specified by the Open DeviceNet Vendors Association and depends on the data rate to
be used.
Table 4-3 DeviceNet maximum segment lengths
Data rate (bits/sec) Maximum network length (m)
1M 30
800 k 50
500 k 100
250 k 250
125 k 500
100 k 700
50 k 1000
20 k 2500
10 k 5000

4.8 Spurs
Control Techniques do not recommend the use of spurs on a DeviceNet network.

4.9 Minimum node to node cable length

The DeviceNet specification does not specify a minimum node to node distance,
however, Control Techniques advises a minimum distance of 1 m between nodes to
prevent excessive bend radii and to reduce network reflections.

20 SI-DeviceNet User Guide

Issue Number: 3
 information
5 Getting started

Safety
This section is intended to provide a generic guide for setting up SI-DeviceNet and a
master controller/PLC. Figure 5-1 Quick start chart SI-DeviceNet on page 22 is intended

Introduction
as the starting point for a new installation. The following pages detail the various
methods available to configure SI-DeviceNet. It is recommended that all of this section
is read, before attempting to configure a system.

Mechanical
installation
NOTE It is recommended that the latest firmware is used where possible to ensure all features
are supported.
NOTE Due to the large number of different PLCs/masters that support DeviceNet, details

installation
cannot be provided for any specific master or PLC. Generic support is available through

Electrical
your supplier or local drive centre. Before contacting your supplier or local drive centre
for support ensure you have read Chapter 12 Diagnostics on page 72 of this manual and
check you have configured all parameters correctly.

Getting
started
Ensure the following information is available before calling:
• A list of all parameters in SI-DeviceNet
• The drive firmware version (see the drive documentation)

Parameters
• The SI-DeviceNet firmware version

Non cyclic
data
status word
Control /
EDS Files
Advanced
Features
DeviceNet
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 21

Issue Number: 3
Figure 5-1 Quick start chart SI-DeviceNet

Start

Set node address

(Pr S.01.004) to a
unique address
(not 63)

Set DeviceNet
data rate
(Pr S.01.005)

Configure mappings
(Pr S.02.001-
Pr S.02.028
and Pr S.03.001
- S.03.028)

Perform a drive
save (Pr mm.000
= save parameters For drives on 24 V only use 1001
or 1000) and
press reset

Reset Option
module
(Pr MM.007=On)

Configure PLC to
expect drive at Ensure PLC
address set in correctly
(Pr S.01.004) configured

Configure PLC
network data rate
to match drive

no

Map the data from

yes Remove power
the network into Is Pr S.01.006
then re-install
the PLC program =“Init Failed”?
Option module

Place the PLC in

“Run Mode”

no

Check the
no Is a SlotX Error yes sub-string
Is Pr S.01.007 >0 ?
present? then find error
code in manual

Communications
functional, write
PLC code

END

22 SI-DeviceNet User Guide

Issue Number: 3
5.1 Parameter save and restore

information
Safety
Parameters in the module are saved when a normal drive parameter save is initiated by
selecting "Save Parameters" or setting a value of 1000 in Pr mm.000 and performing a
drive reset. (If the drive is in the under voltage state or is supplied from a low voltage

Introduction
power supply then a value of 1001 must be set in Pr mm.000 and a drive reset
performed).
Any user-saved parameters in the option module's internal menus are stored in non-
volatile memory on the module and not in the drive. Therefore, if the module is moved to

Mechanical
installation
a different slot or to a different drive, then any saved parameter values will follow the
module. If a module is to be replaced, ensure that the parameter values for the module
have been backed up before replacing it.

installation
Electrical
5.2 Module reset
A reset of the SI-DeviceNet module can be performed by the methods detailed below.
• Set Pr S.00.007 (or Pr MM.007) to On (1). This will only reset the module in slot S.

Getting
started
• Select "Reset modules" or set a value of 1070 in Pr mm.000, and performing a drive
reset. This will perform a reset of all option modules installed in the drive.

Parameters
5.3 Restoring module parameter default values
Setting Pr S.00.008 (or Pr MM.008) to On (1) and performing a module reset will return
all parameters in the SI-DeviceNet module to their default values.

Non cyclic
data
Parameters in the SI-DeviceNet module will also be set to their default values when
drive parameters are returned to their default values.

status word
5.4 Single Line Parameters

Control /
Table 5-1 Menu 0 Setup
Parameter Range() Default() Type

EDS Files
MM.001 Module ID 0 to 999 447 RO Num ND NC PT
00.00.00.00
MM.002 Software Version to RO Num ND NC PT
99.99.99.99

Advanced
Features
MM.003 Hardware Version 00.00 to 99.99 RO Num ND NC PT
MM.004 Serial Number LS 0 to 99999999 RO Num ND NC PT
MM.005 Serial Number MS 0 to 99999999 RO Num ND NC PT
Initialising (0), OK (1),
DeviceNet
Objects

MM.006 Module status RO Num ND NC PT

Config (2), Error (3)
MM.007 Module reset Off (0) or On (1) Off (0) RW Bit NC
MM.008 Module default Off (0) or On (1) Off (0) RW Bit NC
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 23

Issue Number: 3
Table 5-2 Menu 1 DeviceNet setup
Parameter Range() Default() Type
Enable DeviceNet
S.01.001 Off (0) or On (1) On (1) RO Bit NC
Interface
Reset DeviceNet
S.01.002 Off (0) or On (1) Off (0) RW Bit NC
Interface
Default DeviceNet
S.01.003 Off (0) or On (1) Off (0) RW Bit NC
Interface
DeviceNet node
S.01.004 0 to 63 63 RW Num US
address
Auto Detect (-1), 125 kbps (0), 250 125 kbps
S.01.005 Baud rate RW Txt US
kbps (1), 500 kbps (2) (0)
Network OK (0), Init OK (1), No
DeviceNet Network Cyclic (2), Init Failed (3), Comm
S.01.006 RO Txt ND NC PT
Diagnostic Fault (4), No 24 V (5), Baud
detecting (6), Initialising (7)
Cyclic data trans-
S.01.007 0 to 9999 messages/s RO Num ND NC PT
fers per second
S.01.010 Timeout delay 0 to 9999 ms 200 ms RW Num US
Trip (0), Send flt values (1), Clear
S.01.011 Timeout action output (2), Hold last (3), No action Trip (0) RW Txt US
(4)
Timeout event desti- This slot (0), Slot 1 (1), Slot 2 (2), This slot
S.01.012 RW Txt US
nation Slot 3 (3), Slot 4 (4) (0)
No event (0), Event 0 (1), Event 1
No event
S.01.013 Timeout event (2), Event 2 (3), Event 3 (4), Event RW Txt US
(0)
4 (5)
S.01.014 Data alignment 32 (0) or 16 (1) bits 32 (0) bits RW Txt US
Input Cyclic Assem-
S.01.018 70-73, 106-160 (even) 112 RW Num US
bly Object ID
Output Cyclic
S.01.019 20-23, 107-161 (odd) 113 RW Num US
Assembly Object ID
Input cyclic map-
S.01.020 1 to 28 4 RO Num
ping length
Output cyclic map-
S.01.021 1 to 28 4 RO Num
ping length
No error (0), Par Impossible (1),
Hole in mapping (2), Dup mapping
Input mapping sta- (3), Length exceed (4), Obj not No error
S.01.022 RO Txt NC PT
tus support (5), Pre & uncompress (6), (0)
Type Unmatched (7), Memory fault
(8), No mapping (9)
No error (0), Par Impossible (1),
Hole in mapping (2), Dup mapping
Output mapping (3), Length exceed (4), Obj not No error
S.01.023 RO Txt NC PT
status support (5), Pre & uncompress (6), (0)
Type Unmatched (7), Memory fault
(8), No mapping (9)
Input processing
S.01.024 0 to 65535 ms RO Num ND
time
Output processing
S.01.025 0 to 65535 ms RO Num ND
time
Input consistency
S.01.026 Disable (0) or Enable (1) Disable (0) RW Bit US
enable
Input consistency
S.01.027 0 to 4.99.999 0.00.000 RW DE PT US
trigger parameter

24 SI-DeviceNet User Guide

Issue Number: 3
 Parameter Range() Default() Type

information
Safety
Output consistency
S.01.028 Disable (0) or Enable (1) Disable (0) RW Bit US
enable
Output consistency
S.01.029 0 to 4.99.999 0.00.000 RW DE PT US

Introduction
trigger parameter
Custom product Unidrive M
S.01.031 Unidrive M (0) or Unidrive SP (1) RW Txt US
type (0)
Custom product
S.01.032 0 to 9999 0 RW Num US

Mechanical
version

installation
S.01.034 Bus Off trip Enable (0) or Disable (1) Enable (0) RW Txt US
FC DC Motor (2), WRI motor (6),
SCI motor
S.01.040 Motor 1 Type SCI motor (7), Sin PM BL motor (9), RO Txt PT US
(7)

installation
Trap PM BL motor (10)

Electrical
FC DC Motor (2), WRI motor (6),
SCI motor
S.01.041 Motor 2 Type SCI motor (7), Sin PM BL motor (9), RO Txt PT US
(7)
Trap PM BL motor (10)

Getting
started
Parameters
Non cyclic
data
status word
Control /
EDS Files
Advanced
Features
DeviceNet
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 25

Issue Number: 3
Table 5-3 Menu 2 Input mapping
Parameter Range() Default() Type

S.02.001 Input mapping parameter 1 0 to 499999 10040 RW Num DE PT US

S.02.002 Input mapping parameter 2 0 to 499999 2001 RW Num DE PT US

S.02.003 Input mapping parameter 3 0 to 499999 0 RW Num DE PT US

S.02.004 Input mapping parameter 4 0 to 499999 0 RW Num DE PT US

S.02.005 Input mapping parameter 5 0 to 499999 0 RW Num DE PT US

S.02.006 Input mapping parameter 6 0 to 499999 0 RW Num DE PT US

S.02.007 Input mapping parameter 7 0 to 499999 0 RW Num DE PT US

S.02.008 Input mapping parameter 8 0 to 499999 0 RW Num DE PT US

S.02.009 Input mapping parameter 9 0 to 499999 0 RW Num DE PT US

S.02.010 Input mapping parameter 10 0 to 499999 0 RW Num DE PT US

S.02.011 Input mapping parameter 11 0 to 499999 0 RW Num DE PT US

S.02.012 Input mapping parameter 12 0 to 499999 0 RW Num DE PT US

S.02.013 Input mapping parameter 13 0 to 499999 0 RW Num DE PT US

S.02.014 Input mapping parameter 14 0 to 499999 0 RW Num DE PT US

S.02.015 Input mapping parameter 15 0 to 499999 0 RW Num DE PT US

S.02.016 Input mapping parameter 16 0 to 499999 0 RW Num DE PT US

S.02.017 Input mapping parameter 17 0 to 499999 0 RW Num DE PT US

S.02.018 Input mapping parameter 18 0 to 499999 0 RW Num DE PT US

S.02.019 Input mapping parameter 19 0 to 499999 0 RW Num DE PT US

S.02.020 Input mapping parameter 20 0 to 499999 0 RW Num DE PT US

S.02.021 Input mapping parameter 21 0 to 499999 0 RW Num DE PT US

S.02.022 Input mapping parameter 22 0 to 499999 0 RW Num DE PT US

S.02.023 Input mapping parameter 23 0 to 499999 0 RW Num DE PT US

S.02.024 Input mapping parameter 24 0 to 499999 0 RW Num DE PT US

S.02.025 Input mapping parameter 25 0 to 499999 0 RW Num DE PT US

S.02.026 Input mapping parameter 26 0 to 499999 0 RW Num DE PT US

S.02.027 Input mapping parameter 27 0 to 499999 0 RW Num DE PT US

S.02.028 Input mapping parameter 28 0 to 499999 0 RW Num DE PT US

26 SI-DeviceNet User Guide

Issue Number: 3
Table 5-4 Menu 3 Output mapping

information
Safety
Parameter Range() Default() Type

S.03.001 Output mapping parameter 1 0 to 499999 6042 RW Num DE PT US

S.03.002 Output mapping parameter 2 0 to 499999 1021 RW Num DE PT US

Introduction
S.03.003 Output mapping parameter 3 0 to 499999 0 RW Num DE PT US

S.03.004 Output mapping parameter 4 0 to 499999 0 RW Num DE PT US

Mechanical
installation
S.03.005 Output mapping parameter 5 0 to 499999 0 RW Num DE PT US

S.03.006 Output mapping parameter 6 0 to 499999 0 RW Num DE PT US

S.03.007 Output mapping parameter 7 0 to 499999 0 RW Num DE PT US

installation
Electrical
S.03.008 Output mapping parameter 8 0 to 499999 0 RW Num DE PT US

S.03.009 Output mapping parameter 9 0 to 499999 0 RW Num DE PT US

S.03.010 Output mapping parameter 10 0 to 499999 0 RW Num DE PT US

Getting
started
S.03.011 Output mapping parameter 11 0 to 499999 0 RW Num DE PT US

S.03.012 Output mapping parameter 12 0 to 499999 0 RW Num DE PT US

Parameters
S.03.013 Output mapping parameter 13 0 to 499999 0 RW Num DE PT US

S.03.014 Output mapping parameter 14 0 to 499999 0 RW Num DE PT US

S.03.015 Output mapping parameter 15 0 to 499999 0 RW Num DE PT US

Non cyclic
data
S.03.016 Output mapping parameter 16 0 to 499999 0 RW Num DE PT US

S.03.017 Output mapping parameter 17 0 to 499999 0 RW Num DE PT US

status word
Control /
S.03.018 Output mapping parameter 18 0 to 499999 0 RW Num DE PT US

S.03.019 Output mapping parameter 19 0 to 499999 0 RW Num DE PT US

S.03.020 Output mapping parameter 20 0 to 499999 0 RW Num DE PT US

EDS Files
S.03.021 Output mapping parameter 21 0 to 499999 0 RW Num DE PT US

S.03.022 Output mapping parameter 22 0 to 499999 0 RW Num DE PT US

S.03.023 Output mapping parameter 23 0 to 499999 0 RW Num DE PT US

Advanced
Features
S.03.024 Output mapping parameter 24 0 to 499999 0 RW Num DE PT US

S.03.025 Output mapping parameter 25 0 to 499999 0 RW Num DE PT US DeviceNet

Objects

S.03.026 Output mapping parameter 26 0 to 499999 0 RW Num DE PT US

S.03.027 Output mapping parameter 27 0 to 499999 0 RW Num DE PT US

S.03.028 Output mapping parameter 28 0 to 499999 0 RW Num DE PT US

Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 27

Issue Number: 3
Table 5-5 Menu 4 Fault values
Parameter Range() Default() Type

S.04.001 Output Fault value 1 31 31 0 RW Num US

-2 to 2 -1

S.04.002 Output Fault value 2 -231 to 231-1 0 RW Num US

S.04.003 Output Fault value 3 -231 to 231-1 0 RW Num US

S.04.004 Output Fault value 4 -231 to 231-1 0 RW Num US

S.04.005 Output Fault value 5 -231 to 231-1 0 RW Num US

S.04.006 Output Fault value 6 -231 to 231-1 0 RW Num US

S.04.007 Output Fault value 7 -231 to 231-1 0 RW Num US

S.04.008 Output Fault value 8 -231 to 231-1 0 RW Num US

S.04.009 Output Fault value 9 31 31 0 RW Num US

-2 to 2 -1

S.04.010 Output Fault value 10 31 31 0 RW Num US

-2 to 2 -1

S.04.011 Output Fault value 11 -231 to 231-1 0 RW Num US

S.04.012 Output Fault value 12 -231 to 231-1 0 RW Num US

S.04.013 Output Fault value 13 -231 to 231-1 0 RW Num US

S.04.014 Output Fault value 14 -231 to 231-1 0 RW Num US

S.04.015 Output Fault value 15 -231 to 231-1 0 RW Num US

S.04.016 Output Fault value 16 -231 to 231-1 0 RW Num US

S.04.017 Output Fault value 17 31 31 0 RW Num US

-2 to 2 -1

S.04.018 Output Fault value 18 31 31 0 RW Num US

-2 to 2 -1

S.04.019 Output Fault value 19 -231 to 231-1 0 RW Num US

S.04.020 Output Fault value 20 -231 to 231-1 0 RW Num US

S.04.021 Output Fault value 21 -231 to 231-1 0 RW Num US

S.04.022 Output Fault value 22 -231 to 231-1 0 RW Num US

S.04.023 Output Fault value 23 -231 to 231-1 0 RW Num US

S.04.024 Output Fault value 24 -231 to 231-1 0 RW Num US

S.04.025 Output Fault value 25 -231 to 231-1 0 RW Num US

S.04.026 Output Fault value 26 31 31 0 RW Num US

-2 to 2 -1

S.04.027 Output Fault value 27 31 31 0 RW Num US

-2 to 2 -1

S.04.028 Output Fault value 28 -231 to 231-1 0 RW Num US

28 SI-DeviceNet User Guide

Issue Number: 3
 Safety Mechanical Electrical Getting Non cyclic Control / Advanced DeviceNet Glossary Of
Introduction Parameters EDS Files Diagnostics Index
information installation installation started data status word Features Objects Terms

29
PT
NC
Type

ND
Num
RO
Default()
0
-128 to 127 C
Range()
Table 5-6 Menu 9 Resources

PCB temperature

SI-DeviceNet User Guide

Parameter

Issue Number: 3
S.09.030
6 Parameters
6.1 Menus
Table 6-1 below details each of the module's internal menus.
Table 6-1 SI-DeviceNet Internal Menu descriptions
Menu Description
S.0 Module information
S.1 DeviceNet setup
S.2 Input mapping
S.3 Output mappings
S.4 Fault values
S.9 Resources
S is the slot number where the module is installed.
The module's menu 0 is also displayed in menu 15, 16 or 17 on the drive depending on
which slot the module is installed in. Table 6-2 below shows the location of module's
menu 0 on the drive.
Table 6-2 SI-DeviceNet menu 0 locations on the drive
Slot number Menu 0 location
1 15
2 16
3 17

6.2 Module menu 0 - Module Information

All parameters in S.00.ppp (i.e. menu 0 within the Option module menus) are also
present in menus 15, 16 or 17 depending on the slot that the module is installed to e.g.
Pr 3.00.007 is also present as 17.007.
The functionality and properties of the parameters are identical between the two menus.
Module ID code
Default 447
S.00.001 Range 0 to 999
Access RO

Pr S.00.001 displays the ID number for the Option Module. For SI-DeviceNet, this is
447.
SI-DeviceNet firmware version
Default N/A
S.00.002 Range 00.00.00.00 to 99.99.99.99
Access RO

The firmware version of the Option module is in the format of ww.xx.yy.zz

30 SI-DeviceNet User Guide

Issue Number: 3
 SI-DeviceNet hardware version

Parameters
Default N/A
S.00.003 Range 00.00 to 99.99
Access RO

Introduction
The hardware version of the Option module is in the format of yy.zz

Serial Number LS

Mechanical
installation
Default N/A
S.00.004 Range 0 to 99999999
Access RO

installation
Electrical
Serial Number MS
Default N/A

Getting
S.00.005 Range 0 to 99999999

started
Access RO
The module serial number is available as a pair of 32-bit values where Serial Number

Parameters
LS (Pr S.00.004) provide the least significant 8 decimal digits, and Serial Number MS
(Pr S.00.005) provides the most significant 8 decimal digits. The reconstructed serial
number is ((S.00.005 x 100000000) + S.00.004). For example serial number
“0001234567898765” would be stored as S.00.005 = 12345 and S.00.004 = 67898765.

Non cyclic
data
Module Status
Default N/A

status word
Control /
S.00.006 Range Initializing (0) to Error (3)
Access RO

This parameter displays the current status of the module. All possible values are shown

EDS Files
in the table below.
Value Text Description
0 Initializing Module is currently initializing.

Advanced
Features
1 Ok Module has initialized and has found no errors.
A configuration error has been detected in one of the
2 Config
communications protocols or user program. DeviceNet
Objects

An error has occurred preventing the firmware or user

3 Error
program from running correctly.
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 31

Issue Number: 3
 Reset module
Default Off (0)
S.00.007 Range Off (0) or On (1)
Access RW
Changes to the SI-DeviceNet configuration will not take effect until the SI-DeviceNet
has been reset.
To reset the SI-DeviceNet:
• Set Pr S.00.007 to On (1).
• When the sequence has been completed, Pr S.00.007 will be reset to Off (0).
• The SI-DeviceNet will reset using the updated configuration.
NOTE This sequence does NOT store the SI-DeviceNet configuration parameters in the drive
or the SI-DeviceNet flash memory. This parameter will change back to Off immediately,
and as such the change may not be visible on the display.

Default DeviceNet Interface

Default Off (0)
S.00.008 Range Off (0) or On (1)
Access RW
If the host drive is defaulted (see the drive user guide for details), it will also clear the
current configuration for the slot SI-DeviceNet is installed to.
This can be performed as follows:
• Set Pr S.00.008 to On (1).
• Reset the module by setting Pr S.00.007 to On (1).
• SI-DeviceNet communications will be stopped.
• Default parameter values for the SI-DeviceNet will be loaded.
• The SI-DeviceNet will reset using the default values.

32 SI-DeviceNet User Guide

Issue Number: 3
6.3 Module menu 1 - DeviceNet Setup

Parameters
Menu 1 contains all the parameters relating to the setup of the DeviceNet interface on
the SI-DeviceNet module.
Enable DeviceNet Interface

Introduction
Default On (1)
S.01.001 Range Off (0) or On (1)
Access RO

Mechanical
installation
This parameter displays a value of On (1) to indicate that the DeviceNet Interface has
been enabled.
Reset DeviceNet Interface

installation
Electrical
Default Off (0)
S.01.002 Range Off (0) or On (1)
Access RW

Getting
started
Changes to the SI-DeviceNet configuration will not take effect until the SI-DeviceNet
has been reset.
To reset the SI-DeviceNet:

Parameters
• Set Pr S.01.002 to On (1).
• When the sequence has been completed, Pr S.01.002 will be reset to Off (0).
• The SI-DeviceNet will reset using the updated configuration.

Non cyclic
NOTE This sequence does NOT store the SI-DeviceNet configuration parameters in the drive

data
or the SI-DeviceNet flash memory. This parameter will change back to Off immediately,
and as such the change may not be visible in the display.

status word
Control /
Default DeviceNet Interface
Default Off (0)
S.01.003 Range Off (0) or On (1)

EDS Files
Access RW
If the host drive is defaulted (see the drive user guide for details), it will also clear the
current configuration for the slot SI-DeviceNet is installed to.

Advanced
Features
This can be performed as follows:
• Set Pr S.01.003 to On (1).
• Reset the DeviceNet interface by setting Pr S.01.002 to On (1).
DeviceNet
Objects

• SI-DeviceNet communications will be stopped.

• Default parameter values for the DeviceNet interface will be loaded.
• The SI-DeviceNet will reset using the default values.
Diagnostics

DeviceNet node address

Default 63
Glossary Of

S.01.004 Range 0 to 63
Terms

Access RW

Every node on a DeviceNet network must be given a unique network node address. To
activate a change in the node address value, the SI-DeviceNet must be reset
Index

(Pr S.01.002 or MM.007 = On (1). Address number 63 is reserved for system use.

SI-DeviceNet User Guide 33

Issue Number: 3
 Baud rate
Default 125 kbps (0)
S.01.005 Range Auto Detect (-1) to 500 kbps (2)
Access RW

The SI-DeviceNet will automatically detect the DeviceNet network data rate and
synchronize to it. Pr S.01.005 will indicate the data rate that has been detected by the
SI-DeviceNet.
A value of -1 indicates that the SI-DeviceNet has not detected any activity on the
DeviceNet network, and is waiting for the master controller to start communicating.

NOTE The DeviceNet cyclic data rate parameter can be changed, but this will not affect the
data rate at which the SI-DeviceNet communicates. The data rate display will be
updated when the SI-DeviceNet is reset.

Pr S.01.005 Bits/s
-1 Auto-detecting
0 125 k
1 250 k
2 500 k

DeviceNet network diagnostic

Default N/A
S.01.006 Range 0 to 7
Access RO

DeviceNet cyclic data rate

Default N/A
S.01.007 Range 0 to 9999 Messages/s
Access RO

The DeviceNet network activity can be monitored in the SI-DeviceNet operating status
parameter, Pr S.01.006. When the SI-DeviceNet is in data exchange with the DeviceNet
master controller, Pr S.01.007 will give an indication of the number of cyclic data
messages that are being processed per second.

34 SI-DeviceNet User Guide

Issue Number: 3
 All possible values of S.01.006 are given in the table below.

Parameters
Value Text Description
0 Network OK Network ok/healthy
The SI-DeviceNet has initialized correctly and is waiting

Introduction
1 Init OK
for the DeviceNet master to initialize communications.
No cyclic data has been recognized. This could be due to
2 No Cyclic the length of the mapping data is not equal to the master
setup.

Mechanical
installation
A part of the SI-DeviceNet initialization sequence was not
3 Init Failed successful. If this fault persists after a power-cycle,
replace the SI-DeviceNet.

installation
Electrical
Fault found in the communications of the module. This
4 Comm Fault could be due to different devices configured to use
different baud rates.
5 No 24 V No 24 V external PSU has been detected.

Getting
started
6 Baud detecting Automatic baud rate detection is in progress.
7 Initializing The module is currently initializing.

Parameters
Network loss selection
Default 200 ms
S.01.010 Range 0 to 3000 ms

Non cyclic
data
Access RO
The network loss detection feature provides a method which ensures that
communication with the master is still present. The SI-DeviceNet resets an internal

status word
Control /
timer when a valid message is received from the DeviceNet network, if a message is not
received within the specified period, network loss is detected.
NOTE

EDS Files
Network loss detection is not enabled internally until cyclic data has been detected. This
prevents spurious network loss timeouts while the DeviceNet master controller is
initializing the DeviceNet network.

Advanced
Features
Timeout action
Default Trip (0) DeviceNet
S.01.011 Range Trip (0) to No action (4)
Objects

Access RW

Pr S.01.011 determines the action to take when a timeout specified by Pr S.01.010

Diagnostics

occurs. All possible actions and descriptions are listed below.

Value Text Description
0 Trip Trip the drive
Glossary Of

1 Send flt values Send fault values to output parameters

Terms

2 Clear output PLC output parameters will have values set to zero
3 Hold last Hold the last value in the PLC output parameters
4 No action No action with output parameters
Index

SI-DeviceNet User Guide 35

Issue Number: 3
 When a value of "Trip" is selected in Pr S.01.011 and no cyclic communications have
been detected in a time period defined by Pr S.01.010 then the drive will trip displaying
"SlotX Error" with a sub-trip string of "Link loss".
If the network loss timeout time (Pr S.01.010) is reduced too far, spurious network
losses may occur due to a time-out occurring before the time period under normal
operating conditions.

Network loss detection can be disabled by setting Pr S.01.010 to 0. It is the user's

responsibility to ensure that adequate safety precautions are taken to prevent damage
or injury by disabling the drive in the event of a loss of communications.
WARNING

If Pr S.01.011 is set to "Send flt values", the fault values entered in Pr S.04.001 to
Pr S.04.028 are sent to the mapped output parameters when a network timeout error
occurs.
e.g. if Pr S.03.001 = 20021 and Pr S.03.002 = 20022 and a timeout error occurs, the
value in Pr S.04.001 will be sent to Pr 20.021 and the value in Pr S.04.002 will be sent
to Pr 20.022 as defined in the out mapping parameters.
If Pr S.01.011 is set to "Clear output", all PLC output parameter values are set to zero.
e.g. if Pr S.03.001 = 20021 and Pr S.03.002 = 20022 and a timeout error occurs,
Pr 20.021 and Pr 20.022 will be set to 0.
If Pr S.01.011 is set to "Hold last", the last values sent by the PLC master are held in the
mapped output parameters.
e.g. if Pr S.03.001 = 20021 and Pr S.03.002 = 20022 and a timeout error occurs,
Pr 20.021 and Pr 20.022 will equal the last values sent by the PLC master.
If Pr S.01.011 is set to "No action", then the module will not write any value to any
mapped output parameters.

Timeout Event Destination

Default This Slot (0)
S.01.012 Range This Slot (0) to Slot 4 (4)
Access RW

Timeout Event Type

Default No Event (0)
S.01.013 Range No Event (0) to Event4 (4)
Access RW

When a timeout occurs, the SI-DeviceNet module can trigger an event defined by
Pr S.01.013 to a destination, such as an Option Module installed to a different slot on
the drive, defined by Pr S.01.012.
NOTE
If triggering an event to a different Option Module, Pr S.01.012 must point to a slot
where a compatible Option Module is installed to.

36 SI-DeviceNet User Guide

Issue Number: 3
 Parameters
Cyclic data alignment
Default 32 (0)
S.01.014 Range 32 (0) or 16 (1) bits
Access RW

Introduction
By default, the SI-DeviceNet uses 32 bits for each data channel, even if the target
parameter in the drive is a 16-bit parameter. This strategy (known as casting), ensures
that the cyclic data transmitted over the DeviceNet network remains aligned with the

Mechanical
installation
memory locations in 32-bit PLC's. When cyclic data alignment (Pr S.01.014) is set to "16
bits", a data channel will only use 32 bits if the target drive parameter is a 32-bit
parameter. If the target drive parameter is only 1, 8 or 16 bits wide, 16 bits will be used
for that particular data channel as shown in the following table.

installation
Electrical
Parameter Actual data size (bits) Actual data size (bits)
size Alignment = 16 bits Alignment = 32 bits
(bits)

Getting
started
1
8 16
32
16

Parameters
32 32

The following examples demonstrate setting up a network using five cyclic channels for
both IN and OUT data with the cyclic data alignment first set to 32 bits and then set to

Non cyclic
16 bits.

data
Table 6-3 shows the mapping parameters where five IN and five OUT cyclic data
channels are required. With data alignment set to 32 bits, each data channel uses 32

status word
bits (two data words, so a total of ten words are required).

Control /
Table 6-3 Mapping parameters
Data
Data words Mapping
Data channel Setting width Mapping status

EDS Files
used for slot 3
(bits)
IN channel 1 IN word 0, 1 Pr 3.02.001 0.10.040 16 Pr 10.040, status word
Pr 02.001, post-ramp speed
IN channel 2 IN word 2, 3 Pr 3.02.002 0.02.001 32

Advanced
Features
reference
Pr 04.020, Motor load as % of
IN channel 3 IN word 4, 5 Pr 3.02.003 0.04.020 16
rated motor load
IN channel 4 IN word 6, 7 Pr 3.02.004 0.14.021 16 Pr 14.021, PID1 feedback
DeviceNet
Objects

IN channel 5 IN word 8, 9 Pr 3.02.005 0.14.001 16 Pr 14.001, PID1 output

OUT channel 1 OUT word 0, 1 Pr 3.03.001 0.06.042 16 Pr 06.042, control word
OUT channel 2 OUT word 2, 3 Pr 3.03.002 0.01.021 32 Pr 01.021, preset reference 1
Diagnostics

OUT channel 3 OUT word 4, 5 Pr 3.03.003 0.02.011 32 Pr 02.011, acceleration rate 1

OUT channel 4 OUT word 6, 7 Pr 3.03.004 0.02.021 32 Pr 02.021, deceleration rate 1
OUT channel 5 OUT word 8, 9 Pr 3.03.005 0.14.020 16 Pr 14.020, PID1 reference
Glossary Of
Terms
Index

SI-DeviceNet User Guide 37

Issue Number: 3
 It is advisable to keep 16-bit parameters paired together. This prevents mis-alignment of
cyclic data with 32-bit PLC registers when using auto-mapping facilities to configure the
DeviceNet network. By swapping the mappings for input channel 2 with input channel 3
and moving output channel 5 to output channel 2, the data channel structure will appear
as shown in the following table.
Data
Data Data words Mapping
Setting width Mapping status
channel used for slot 3
(bits)
IN channel 1 IN word 0 Pr 3.02.001 0.10.040 16 Pr 10.040, status word
Pr 04.020, Motor load as % of
IN channel 2 IN word 1 Pr 3.02.002 0.04.020 16
rated motor load
Pr 02.001, post-ramp speed
IN channel 3 IN word 2, 3 Pr 3.02.003 0.02.001 32
reference
IN channel 4 IN word 4 Pr 3.02.004 0.14.021 16 Pr 14.021, PID1 feedback
IN channel 5 IN word 5 Pr 3.02.005 0.14.001 16 Pr 14.001, PID1 output
OUT channel 1 OUT word 0 Pr 3.03.001 0.06.042 16 Pr 06.042, control word
OUT channel 2 OUT word 1 Pr 3.03.002 0.14.020 16 Pr 14.020, PID1 reference
OUT channel 3 OUT word 2, 3 Pr 3.03.003 0.01.021 32 Pr 01.021, preset reference 1
OUT channel 4 OUT word 4, 5 Pr 3.03.004 0.02.011 32 Pr 02.011, acceleration rate
OUT channel 5 OUT word 6, 7 Pr 3.03.005 0.02.021 32 1Pr 02.021, deceleration rate 1

Input cyclic assembly object ID

Default 112
S.01.018 Range 70-73, 106-160 (even)
Access RW

Output cyclic assembly object ID

Default 113
S.01.019 Range 20-23, 107-161 (odd)
Access RW
Pr S.01.018 and S.01.019 control the input and output DeviceNet objects and also the
number of polled words that are to be sent and received.
Table 6-4 on page 39 shows the number of the polled words corresponding to
Pr S.01.018 and Pr S.01.019.

38 SI-DeviceNet User Guide

Issue Number: 3
 Table 6-4 Polled words

Parameters
Input assembly object Output assembly object
Polled words
(Pr S.01.018) (Pr S.01.019)
1 106 107

Introduction
2 108 109
3 110 111
4 112 113

Mechanical
installation
5 114 115
6 116 117
7 118 119

installation
8 120 121

Electrical
9 122 123
10 124 125
11 126 127

Getting
started
12 128 129
13 130 131

Parameters
14 132 133
15 134 135
16 136 137
17 138 139

Non cyclic
data
18 140 141
19 142 143
20 144 145

status word
Control /
21 146 147
22 148 149
23 150 151

EDS Files
24 152 153
25 154 155
26 156 157

Advanced
Features
27 158 159
28 160 161

There are several assembly objects that are covered in the DeviceNet specification that
DeviceNet
Objects

are available for use. See the DeviceNet objects chapter.

Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 39

Issue Number: 3
 Input cyclic mapping length
Default 4
S.01.020 Range 0 to 28
Access RO

Output cyclic mapping length

Default 4
S.01.021 Range 0 to 28
Access RO

Pr S.01.020 and Pr S.01.021 indicate the current mapping length used for sending and
receiving data.
To set a different value for the mapping lengths, refer to Pr S.01.018 and Pr S.01.019.

Input mapping status

Default N/A
S.01.022 Range No error (0) to Reserved (10)
Access RO

Output mapping status

Default N/A
S.01.023 Range No error (0) to Reserved (10)
Access RO

If the DeviceNet Network Diagnostic parameter (Pr S.01.006) indicates “Init Failed”, a
mapping configuration error has been could have been detected. The reason for the
error is indicated by the SI-DeviceNet input mapping status parameter (Pr S.01.022)
and the SI-DeviceNet output mapping status parameter (Pr S.01.023).
When a mapping error has been corrected, reset the SI-DeviceNet module by setting
Pr S.01.002 or MM.007 to On (1).

40 SI-DeviceNet User Guide

Issue Number: 3
 The mapping error codes are described in the table below:

Parameters
Value Text Description
No error has been detected during mapping
0 No error
initialization.

Introduction
1 Par impossible The parameter may not exist or may not be readable.
2 Hole in mapping Cyclic data mapping parameters are not contiguous.
Two or more cyclic data mapping configuration

Mechanical
installation
3 Dup mapping parameters have been configured with the same
destination parameter reference.
The length of the mapped parameters exceeds the
4 Length exceed
length of the selected assembly object.

installation
Electrical
5 Obj not support The selected assembly object is not supported.
If the predefined object is selected, the data alignment
6 Pre & uncompress
must be set to 16 bits.
The IN and OUT objects both must be predefined

Getting
started
7 Type unmatched
objects, or neither.
8 Memory fault Failed to allocate memory for mapping.

Parameters
9 No mapping No parameter is assigned to the mapping.
10 Reserved Reserved

Non cyclic
Input processing time

data
Default N/A
S.01.024 Range 0 to 65535 ms

status word
Control /
Access RO

Output processing time

EDS Files
Default N/A
S.01.025 Range 0 to 65535 ms
Access RO

Advanced
Features
Pr S.01.024 and Pr S.01.025 display the input and output processing times respectively.
The input processing time (Pr S.01.024) shows the time taken from the value being sent
from the drive to the value being written to the master in milliseconds. The output DeviceNet

processing time (Pr S.01.025) shows the time taken from the value being sent from the
Objects

master to the value being successfully written to the drive in milliseconds.

Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 41

Issue Number: 3
 Input consistency enable
Default Off (0)
S.01.026 Range Off (0) or On (1)
Access RW

Input consistency trigger parameter

Default N/A
S.01.027 Range 0.00.000 to 4.99.999
Access RW

Output consistency enable

Default Off (0)
S.01.028 Range Off (0) or On (1)
Access RW

Output consistency trigger parameter

Default N/A
S.01.029 Range 0.00.000 to 4.99.999
Access RW

The SI-DeviceNet module provides an input/output consistency feature which ensures

that the data in the input or output mappings is only transferred between the
SI-DeviceNet module and the master when the mapped parameters are ready. This
prevents data skew between parameters in the input/output mappings.
If Input consistency action (Pr S.01.026) and Output consistency action (Pr S.01.028)
are set to 0 (i.e. default settings), then the input/output consistency features are
disabled so that input and output data is always read from or written to the master/
module.
If Input Consistency Action (Pr S.01.026) is set to On (1), the SI-DeviceNet module will
check the value of the parameter specified by the Input Consistency Trigger Source
Parameter (Pr S.01.027). If the input trigger source parameter defined by Pr S.01.027 is
set to a non-zero value (for example by a user program in an applications module), this
indicates to the SI-DeviceNet module that all the mapped parameters are ready to be
read. The module will then read the mapped parameters, transfer them to the master
and will then clear the input trigger source parameter to zero. When the input trigger
source parameter is set to zero, the SI-DeviceNet module will continue to transfer the
previously read data to the master.
If Output Consistency Action (Pr S.01.028) is set to On (1), the SI-DeviceNet module will
check the value of the parameter specified by the Output Consistency Trigger Source
Parameter (Pr S.01.029). The output trigger source parameter defined by Pr S.01.029
will initially be set to 1.

42 SI-DeviceNet User Guide

Issue Number: 3
 If the output trigger source parameter is set to zero (for example by a user program in an

Parameters
applications module), this indicates to the SI-DeviceNet module that all the mapped
parameters are ready to be written to. The module will then write the data from the
master into the mapped parameters, and will then set the output trigger source
parameter to 1. When the output trigger source parameter is set to 1, it indicates to the

Introduction
SI-DeviceNet module that the mapped parameters are not ready to be written to, and
therefore any new data from the master will not be written to the mapped parameters in
the drive until the output trigger source parameter is again set to zero.

Mechanical
installation
Custom product type
Default Unidrive M (0)
S.01.031 Range Unidrive M (0) or Unidrive SP (1)

installation
Electrical
Access RW

A backwards compatibility mode is present in SI-DeviceNet. Pr S.01.031 can be used to

allow the SI-DeviceNet module to appear as an SM-DeviceNet module, this only applies

Getting
to the network and not the control/status words and parameter sizes. The module must

started
be configured to match the existing network settings of the drive it is replacing (including
any parameter mappings).

Parameters
Using the compatibility mode allows the replacement of drives on a DeviceNet network,
without having to make any changes to the master network configuration, it changes the
identity code of the module so that the master believes that a similar type drive is
present for a particular node.

Non cyclic
Custom product version

data
Default 0
S.01.032 Range 0 to 9999

status word
Control /
Access RW

When compatibility mode has been enabled, Pr S.01.032 should contain the correct
product code to respond to the DeviceNet master. This product code should match the

EDS Files
product code that is being used in the appropriate EDS files.

NOTE When using compatibility mode, ensure that the correct EDS file for the simulated drive
is being used and not the actual drive.

Advanced
Features
This mode only changes the network to emulate the Unidrive SP on the network.
Changes to the control method and data size differences must still be considered. This
mode does NOT allow direct replacement.
DeviceNet
Objects

WARNING

Bus Off trip

Diagnostics

Default Enable (0)

S.01.034 Range Enable (0) or Disable (1)
Access RW
Glossary Of

The CAN hardware layer used by DeviceNet has a built-in safety mechanism where
Terms

nodes experiencing regular problem with receiving or transmitting CAN frames will go
off line. In this case, the SI-DeviceNet will trip the drive and it will not be possible to
communicate with the drive via DeviceNet until the SI-DeviceNet has been reset.
Index

SI-DeviceNet User Guide 43

Issue Number: 3
 Bus Off errors will generally only occur if the DeviceNet network is broken, the wiring
becomes faulty or there is noise on the network. However, in some applications, such as
a continuous casting process, there is a requirement for the drive to continue to run in
the event of a major network failure.
When Pr S.01.034 is set to Disable (1), the BUS Off condition may still be entered, but
the SI-DeviceNet does not trip the drive. Some external provision must be made to
disable the drive when the process has reached a point at which it is safe to stop.

Motor 1 type
Default FC DC Motor (2)
FC DC Motor (2) to Trapezoidal PM BL
S.01.040 Range
Motor (10)
Access RO

Motor 2 type
Default FC DC Motor (2)
FC DC Motor (2) to Trapezoidal PM BL
S.01.041 Range
Motor (10)
Access RO

There are 2 instances of the Motor Data object. Instance 1 will represent the Menu 5
motor information (Motor Map 1) and instance 2 will represent the menu 21 motor map.
(Motor Map 2) The instance being used by the other dependant DeviceNet objects will
be determined by Pr 21.015. Pr 21.015 is polled in the background task, so the user
should be aware that during motor map changeover, the rpm speed reference might not
be accurate.

44 SI-DeviceNet User Guide

Issue Number: 3
6.4 Module menu 2 - Input Mappings

Parameters
Menu 2 contains all the mapping parameters relating to the IN channels of the module.
The values set in each parameter are in the format of S.mm.ppp where:
S = slot number of the target/source parameter

Introduction
mm = menu number of the target /source parameter
ppp = parameter number of the target/source parameter

Mechanical
installation
IN channel Mapping parameter Default value
1 Pr S.02.001 0.10.040
2 Pr S.02.002 0.02.001
3 Pr S.02.003 0.00.000

installation
Electrical
4 Pr S.02.004 0.00.000
5 Pr S.02.005 0.00.000
6 Pr S.02.006 0.00.000
7 Pr S.02.007 0.00.000

Getting
started
8 Pr S.02.008 0.00.000
9 Pr S.02.009 0.00.000
10 Pr S.02.010 0.00.000

Parameters
11 Pr S.02.011 0.00.000
12 Pr S.02.012 0.00.000
13 Pr S.02.013 0.00.000
14 Pr S.02.014 0.00.000

Non cyclic
data
15 Pr S.02.015 0.00.000
16 Pr S.02.016 0.00.000
17 Pr S.02.017 0.00.000

status word
Control /
18 Pr S.02.018 0.00.000
19 Pr S.02.019 0.00.000
20 Pr S.02.020 0.00.000
21 Pr S.02.021 0.00.000

EDS Files
22 Pr S.02.022 0.00.000
23 Pr S.02.023 0.00.000
24 Pr S.02.024 0.00.000

Advanced
Features
25 Pr S.02.025 0.00.000
26 Pr S.02.026 0.00.000
27 Pr S.02.027 0.00.000
28 Pr S.02.028 0.00.000
DeviceNet
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 45

Issue Number: 3
6.5 Module menu 3 - Output Mappings
Menu 3 contains all the mapping parameters relating to the OUT channels of the
module.
The values set in each parameter are in the format of S.mm.ppp where:
S = slot number of the target/source parameter
mm = menu number of the target /source parameter
ppp = parameter number of the target/source parameter
OUT channel Mapping parameter Default value
1 Pr S.03.001 0.06.042
2 Pr S.03.002 0.01.021
3 Pr S.03.003 0.00.000
4 Pr S.03.004 0.00.000
5 Pr S.03.005 0.00.000
6 Pr S.03.006 0.00.000
7 Pr S.03.007 0.00.000
8 Pr S.03.008 0.00.000
9 Pr S.03.009 0.00.000
10 Pr S.03.010 0.00.000
11 Pr S.03.011 0.00.000
12 Pr S.03.012 0.00.000
13 Pr S.03.013 0.00.000
14 Pr S.03.014 0.00.000
15 Pr S.03.015 0.00.000
16 Pr S.03.016 0.00.000
17 Pr S.03.017 0.00.000
18 Pr S.03.018 0.00.000
19 Pr S.03.019 0.00.000
20 Pr S.03.020 0.00.000
21 Pr S.03.021 0.00.000
22 Pr S.03.022 0.00.000
23 Pr S.03.023 0.00.000
24 Pr S.03.024 0.00.000
25 Pr S.03.025 0.00.000
26 Pr S.03.026 0.00.000
27 Pr S.03.027 0.00.000
28 Pr S.03.028 0.00.000

46 SI-DeviceNet User Guide

Issue Number: 3
6.6 Module menu 4 - Fault Values

Parameters
Menu 4 contains all the fault values that are sent to the mapped output destination
parameters when fault values have been configured to be sent using an action
parameter.

Introduction
OUT channel Parameter
1 Pr S.04.001
2 Pr S.04.002

Mechanical
installation
3 Pr S.04.003
4 Pr S.04.004
5 Pr S.04.005
6 Pr S.04.006

installation
Electrical
7 Pr S.04.007
8 Pr S.04.008
9 Pr S.04.009

Getting
started
10 Pr S.04.010
11 Pr S.04.011
12 Pr S.04.012

Parameters
13 Pr S.04.013
14 Pr S.04.014
15 Pr S.04.015

Non cyclic
16 Pr S.04.016

data
17 Pr S.04.017
18 Pr S.04.018

status word
Control /
19 Pr S.04.019
20 Pr S.04.020
21 Pr S.04.021

EDS Files
22 Pr S.04.022
23 Pr S.04.023
24 Pr S.04.024

Advanced
Features
25 Pr S.04.025
26 Pr S.04.026
27 Pr S.04.027 DeviceNet
28 Pr S.04.028
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 47

Issue Number: 3
 Module menu 9 - Resources
PCB temperature 1
Default N/A
S.09.030 Range -128 to 127°C
Access RO

PCB temperature 2
Default N/A
S.09.031 Range -128 to 127°C
Access RO

Parameters S.09.030 and S.09.031 display the current temperature of the 2 internal
thermistors within the option module.

48 SI-DeviceNet User Guide

Issue Number: 3
7 Non cyclic data

information
Safety
7.1 Introduction

Introduction
“Explicit data” is the non cyclic data channel on DeviceNet that provides access to any
parameter and DeviceNet object within SI-DeviceNet. As such, it is always enabled and
active on SI-DeviceNet. Object access using explicit data is controlled entirely by the
master controller program, and is not usually configured in any way when the DeviceNet

Mechanical
installation
network mapping is defined.

NOTE As non-cyclic data control is implemented entirely in the DeviceNet master controller, the
method used will depend entirely on the type of master controller used.

installation
Electrical
7.2 Explicit parameter access
The Control Techniques object (Class 100 or 0x64) provides access to all drive

Getting
started
parameters, using the parameters as shown:
Class code: 100 (0x64)
Instance: Menu

Parameters
Attribute: Parameter
Read Code: 14 (0x0E) Get_Attribute_Single
Write Code: 16 (0x10) Set_Attribute_Single

Non cyclic
All supported pre-defined DeviceNet objects can also be accessed using explicit

data
messaging. Refer to the master controller documentation for full details about explicit
messaging, and how to implement explicit messaging within the particular master
controller.

status word
Control /
NOTE Menu 0 parameters in the drive can be access using instance 200 (0xC8).

When accessing drive parameters using the Control Techniques object, all parameters

EDS Files
must be treated as signed 32-bit parameters.

NOTE Multiple parameter access (using the Get_Atttribute_All service) is not supported by SI-
DeviceNet.

Advanced
Features
DeviceNet
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 49

Issue Number: 3
8 Control / status word
8.1 What are control and status words?
The control and status words allow the digital control and monitoring of the drive to be
implemented using a single data word for each function. Each bit in the control word has
a particular function and provides a method of controlling the output functions of the
drive, such as run and direction. These words can be accessed using either cyclic or
non-cyclic data.
Each bit in the status word provides feedback about the drives state of health and
operational condition, such as drive OK, drive at speed, etc.

8.2 Control word

The SI-DeviceNet control word consists of 16 control bits some of which are reserved.
See Table 8-1 for the individual bit function descriptions.
Table 8-1 Control word bit definitions
b15 b14 b13 b12 b11 b10 b9 b8
KEYPAD JOG
RESET TRIP REMOTE
WDOG REV

b7 b6 b5 b4 b3 b2 b1 b0
NOT FWD RUN JOG RUN
AUTO RUN ENABLE
STOP REV REV FWD FWD

To enable fieldbus control the fieldbus enable signal (Pr 06.043) and the auto bit (bit7)
must both be set to ‘1’. When the AUTO bit is reset to 0 the drive will revert to terminal
control.
For safety reasons, the external HARDWARE ENABLE signal must be present before
the fieldbus control word can be used to start the drive. This terminal is normally
controlled by an external “Emergency Stop” circuit to ensure that the drive is disabled in
an emergency situation.
The control word REMOTE bit directly controls the drive parameter Pr 01.042, the
function of which is to select the digital speed reference as the source of the drives
speed reference. When the REMOTE bit is reset to 0 the drive will revert to using the
external analog speed reference.
The actual digital speed reference selected when REMOTE is set to 1 will be Pr 01.021,
which is also the default mapping for the fieldbus speed reference. However Pr 01.015
can be used to change which of the digital references is selected. For further details on
the drive digital speed references, please refer to the appropriate drive User Guide.
Table 8-2 lists in detail the function of each control word bit. For further in-depth details
about drive control words and sequencing bits please refer to the appropriate drive User
Guides.

NOTE When a trip occurs, the drive control word MUST be set to a safe, disabled state. This
ensures that the drive does not re-start unexpectedly when it is reset. This can be
achieved by continuously monitoring the drive status word and interlocking it with the
control word.

50 SI-DeviceNet User Guide

Issue Number: 3
 NOTE By default data compression is off and therefore the control word will be cast as 32 bit

information
with bits 16-31 reserved.

Safety
Table 8-2 Control word bit functions

Introduction
Bit Function Description
Set to 1 to enable the drive. Resetting to 0 will immediately disable the drive,
0 ENABLE and the motor will coast to a stop. The external HARDWARE ENABLE signal
must also be present before the drive can be enabled.

Mechanical
installation
Set to 1 (with ENABLE set to 1) to run the motor in the forward direction. When
1 RUN FWD
reset to 0, the drive will decelerate the motor to a controlled stop.
Set to 1 to jog the motor forward. This signal needs to be used in conjunction
2 JOG FWD with the ENABLE bit. This signal is overridden by a RUN, RUN REV or RUN

installation
FWD signal.

Electrical
Set to 1 (with ENABLE set to 1) to run the motor in the reverse direction. When
3 RUN REV
reset to 0, the drive will decelerate the motor to a controlled stop.
Set to 1 to select the reverse direction. Set to 0 to run in the forward direction.
4 FWD REV
The RUN signal is used to start and stop the motor.

Getting
started
Set to 1 to run the motor. FWD REV is used to select the direction of motor
5 RUN rotation. When reset to 0, the drive will decelerate the motor to a controlled
stop.

Parameters
Set to 1 to allow the sequencing bit in the drive to be latched. Refer to the drive
NOT
6 Advanced User Guide for more details. If NOT STOP is zero, all latches are
STOP
cleared and held at 0. Pr 06.004 must be correctly set for this to function.
Set to 1 to enable fieldbus control of the drive Control Word. The Control Word
7 AUTO Enable (Pr 06.043) must also be set to 1. When reset to 0, the drive will oper-

Non cyclic
ate under terminal control.

data
Set to 1 to select digital speed reference 1 (Pr 01.021), and to 0 to select ana-
log reference 1 (Pr 01.036). REMOTE directly controls Pr 01.042, so reference
8 REMOTE
selector (Pr 01.014) and preset selector (Pr 01.015) must both be set to 0

status word
Control /
(default) for the REMOTE bit to work properly.
Set to 1 to jog the motor in reverse. This signal needs to be used in conjunction
9 JOG REV with the ENABLE bit. This signal is overridden by a RUN/RUN REV/RUN FWD
command.

EDS Files
10 Reserved
11 Reserved
Set to 1 to trip the drive at any time. The trip display on the drive will be “Con-
12 TRIP trol Word” and the trip code will be 35. AUTO (b7) has no effect on this func-

Advanced
Features
tion. The trip cannot be cleared until TRIP is reset to 0.
A 0-1 transition of the RESET bit will reset the drive from a trip condition. If the
reason for the trip is still present, or another fault condition has been detected,
13 RESET the drive will immediately trip again. When resetting the drive, it is recom-
DeviceNet

mended to check the status word to ensure that the reset was successful,
Objects

before attempting to re-start the drive.

This watchdog is provided for an external keypad or other devices where a
break in the communication link must be detected. The watchdog system can
Diagnostics

KEYPAD be enabled and/or serviced if this bit is changed from zero to one while the
14
WDOG control word enabled.
Once the watchdog is enabled it must be serviced at least once every second
or an “Watchdog” trip will occur. The watchdog is disabled when a “Watchdog”
trip occurs, and so it must be re-enabled when the trip is reset.
Glossary Of
Terms

15 Reserved
Index

SI-DeviceNet User Guide 51

Issue Number: 3
8.3 Status word
The SI-DeviceNet status word consists of 16 control bits some of which are reserved.
See the table below for the individual bit function descriptions.
b15 b14 b13 b12 b11 b10 b9 b8
Reverse Reverse Brake Braking Current
Not Supply
Direction Direction Resistor IGBT Regenerating Limit
Used Loss
Running Commanded Alarm Active Active

b7 b6 b5 b4 b3 b2 b1 b0
Running
Rated At or Drive
Above Set At Set Below Set Zero Drive
Load Below OK/
Speed Speed Speed Speed Active
Reached Minimum Healthy
Speed

The fieldbus status word is mapped directly from the drive status word, Pr 10.040.
Pr 10.040, is generated by the values of several individual drive status bits. Table
7.3 Mapping for 2 polled channels on page 40 shows the function indicated by each bit
in the status word when set to 1.
Table 8-3 Drive status word bit functions

Bit Parameter Description

bit 0 = 0:
Drive not ok (tripped).
0 Pr 10.001
bit 0 = 1:
Drive ok.
Drive active
1 Pr 10.002
When bit 1 = 1, the drive is in run mode.
Zero speed
In Open Loop mode, zero speed indicates that the absolute value
of the post-ramp speed reference is at or below the zero speed
2 Pr 10.003 threshold.
In RFC-A and RFC-5 modes, zero speed indicates that the
absolute value of speed feedback is at or below the zero speed
threshold.
Running at or below minimum speed
In bipolar mode (Pr 01.010 = 1) Pr 10.004 is the same as zero
speed, Pr 10.003 (See above).
In unipolar mode, Pr 10.004 is set if the absolute value of the post-
3 Pr 10.004
ramp speed reference (Pr 02.001) or speed feedback (Pr 03.002) is
at or below minimum speed + 0.5Hz or 5 rpm (Minimum speed is
defined by Pr 01.007). This parameter is only set if the drive is
running.
Below set speed
Only set if the drive is running at below set speed. Refer to Pr
4 Pr 10.005
03.006, Pr 03.007 and Pr 03.009 in the drive documentation for
more details.
At speed
Only set if the drive is running at set speed.
5 Pr 10.006
Refer to Pr 03.006, Pr 03.007 and Pr 03.009 in the drive
documentation.

52 SI-DeviceNet User Guide

Issue Number: 3
 Bit Parameter Description

information
Safety
Above set speed
Only set if the drive is running at above set speed. Refer to
6 Pr 10.007
Pr 03.006, Pr 03.007 and Pr 03.009 in the drive documentation for

Introduction
more details.
Load reached
Indicates that the modulus of the active current is greater or equal
7 Pr 10.008
to the rated active current, as defined in menu 4. Refer to the drive

Mechanical
installation
documentation for more details.
In current limit
8 Pr 10.009
Indicates that the current limits are active.

installation
Regenerating

Electrical
Indicates that power is being transferred from the motor to the
9 Pr 10.010 drive.
Regen mode: Indicates that power is being transferred from the
drive to the supply.

Getting
started
Dynamic brake active
10 Pr 10.011 Indicates that the braking IGBT is active. If the IGBT becomes
active, this parameter will remain on for at least one second.

Parameters
Dynamic brake alarm
11 Pr 10.012 Dynamic brake alarm is set when the braking IGBT is active, and
the braking energy accumulator is greater than 75 %.

Non cyclic
Reverse direction commanded

data
Direction commanded is set to 1 if the Pre-ramp speed reference
12 Pr 10.013
(Pr 01.003) is negative and reset to 0 if the Pre-ramp speed
reference is zero or positive.

status word
Control /
Reverse direction running
A 0 indicates forward direction and a 1 indicates reverse direction.
13 Pr 10.014
The source of this bit is Pr 02.001 for open loop mode and

EDS Files
Pr 03.002 for RFC-A and RFC-S modes.
Supply loss
Supply loss indicates that the drive has detected a supply loss from
the level of the DC bus voltage. This parameter can only become

Advanced
14 Pr 10.015

Features
active if supply loss ride through or supply loss stop modes are
selected.
In regen mode, supply loss is the inverse of Pr 03.007. DeviceNet
15 (Not Used) Reserved
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 53

Issue Number: 3
9 EDS Files
9.1 What are EDS files?
EDS (Electronic Data Sheets) files are text files that are used by SI-DeviceNet network
configuration software tools. They contain information about the device, such as
manufacturer, product type, product code, etc., and they also provide information on the
default settings and functions supported by the device. Mapping information is also
included that allows access to device parameters over the SI-DeviceNet network.
EDS files are not downloaded to the PLC or scanner, and are only used during network
configuration. It is actually possible to configure a network without the EDS files.

9.2 Generic EDS files

Generic EDS files are available for all supported drives. These files are available from
your local Control Techniques Drive Centre or supplier.
Drive icon files are also supplied for use with the SI-DeviceNet configuration software
being used. EDS files must usually be installed into the software package being used to
configure a SI-DeviceNet network. Refer to the software documentation supplied with
the master for instructions on how to install EDS files. Control Techniques cannot
provide specific technical support for any of these software packages.

54 SI-DeviceNet User Guide

Issue Number: 3
 information
10 Advanced Features

Safety
10.1 Supported Drive assembly objects

Introduction
The DeviceNet specification includes a series of pre-defined assembly objects for
different devices, including Drives, and the SI-DeviceNet supports several of these pre-
defined assembly objects. The format of the DeviceNet pre-defined assembly objects is
fixed.

Mechanical
installation
Table 10.1 Pre-defined SI-DeviceNet assembly objects
Object Type Object name
20 (0x14) Output Basic speed control output

installation
Electrical
21 (0x15) Output Extended speed control output
22 (0x16) Output Speed and torque control output
23 (0x17) Output Extended speed and torque control output
70 (0x46) Input Basic speed feedback

Getting
started
71 (0x47) Input Extended speed feedback
72 (0x48) Input Basic speed and torque feedback
73 (0x49) Input Extended speed and torque feedback

Parameters
To select a pre-defined input or output assembly object:
1. Specify the input assembly object required in Pr S.01.018.
2. Specify the output assembly object required in Pr S.01.019.

Non cyclic
3. Set Pr MM.007 to On to reset the SI-DeviceNet, and make the changes take effect.

data
NOTE
The parameter mapping of the pre-defined DeviceNet objects CANNOT be changed.

status word
Control /
10.1.1 Basic speed control
Output assembly object 20
The scanner must be configured for 4 Tx bytes (or 2 Tx words) if this output assembly

EDS Files
object is selected.
Table 10.2 Basic speed control

Advanced
Data word Function

Features
Word 0 Basic control word (See below)
Word 1 SpeedRef (See status word)
The basic control word uses a full 16-bit word, with the bits having functions as shown
DeviceNet
Objects

below.
b15 b14 b13 b12 b11 b10 b9 b8
Diagnostics

b7 b6 b5 b4 b3 b2 b1 b0
FaultRst RunFwd
Glossary Of
Terms
Index

SI-DeviceNet User Guide 55

Issue Number: 3
 10.1.2 Extended speed control
Output assembly object 21
The scanner must be configured for 4 Tx bytes (or 2 Tx words) if this output assembly
object is selected.
Table 10.3 Extended speed control
Data word Function
Word 0 Extended control word (see below).
Word 1 SpeedRef (see status word).
The extended control word uses a full 16-bit word, with the bits having functions as
shown below.
b15 b14 b13 b12 b11 b10 b9 b8

b7 b6 b5 b4 b3 b2 b1 b0
NetRef NetCtrl FaultRst RunRev RunFwd

10.1.3 Basic speed and torque control

Output assembly object 22
The scanner must be configured for 6 Tx bytes (or 3 Tx words) if this output assembly
object is selected.
Table 10.4 Basic speed and torque control
Data Word Function
Word 0 Basic control word (See below)
Word 1 SpeedRef (See status word)
Word 2 TorqueRef (See status word)
The basic control word uses a full 16-bit word, with the bits having functions as shown
below.
b15 b14 b13 b12 b11 b10 b9 b8

b7 b6 b5 b4 b3 b2 b1 b0
FaultRst RunFwd

10.1.4 Extended speed and torque control

Output assembly object 23
The scanner must be configured for 6 Tx bytes (or 3 Tx words) if this output assembly
object is selected.
Table 10.5 Extended speed and torque control
Data word Function
Word 0 Extended control word (See below)
Word 1 SpeedRef (See status word)
Word 2 TorqueRef (See status word)

56 SI-DeviceNet User Guide

Issue Number: 3
 The extended control word uses a full 16-bit word, with the bits having functions as

information
shown below.

Safety
b15 b14 b13 b12 b11 b10 b9 b8

Introduction
b7 b6 b5 b4 b3 b2 b1 b0
NetRef NetCtrl FaultRst RunRev RunFwd

Mechanical
installation
10.1.5 Basic speed feedback
Input assembly object 70
The scanner must be configured for 4 Rx bytes (or 2 Rx words) if this input assembly
object is selected.

installation
Electrical
Table 10.6 Basic speed feedback
Data word Function
Word 0 Basic status word (See below)

Getting
started
Word 1 SpeedActual (See status word)
The basic status word uses a full 16-bit word, with the bits having functions as shown

Parameters
below.
b15 b14 b13 b12 b11 b10 b9 b8

Non cyclic
b7 b6 b5 b4 b3 b2 b1 b0

data
Running1 Faulted

10.1.6 Extended speed feedback

status word
Control /
Input assembly object 71
The scanner must be configured for 4 Rx bytes (or 2 Rx words) if this input assembly
object is selected.

EDS Files
Table 10.7 Extended speed feedback
Data word Function

Advanced
Word 0 Basic status word (see below)

Features
Word 1 SpeedActual (see status word)
The basic status word uses a full 16-bit word, with the bits having functions as shown
below.
DeviceNet
Objects

b15 b14 b13 b12 b11 b10 b9 b8

DriveState
Diagnostics

b7 b6 b5 b4 b3 b2 b1 b0
At RefFrom CtrlFrom
Ready Running2 Running1 Warning Faulted
Reference Net Net
Glossary Of
Terms
Index

SI-DeviceNet User Guide 57

Issue Number: 3
 10.1.7 Basic speed and torque feedback
Input assembly object 72
The scanner must be configured for 6 Rx bytes (or 3 Rx words) if this input assembly
object is selected’.
Table 10.8 Basic speed and torque feedback
Data word Function
Word 0 Basic status word (see below)
Word 1 SpeedActual (see status word)
Word 2 TorqueActual (see status word)
The extended status word uses a full 16-bit word, with the bits having functions as
shown below.
b15 b14 b13 b12 b11 b10 b9 b8

b7 b6 b5 b4 b3 b2 b1 b0
Running1 Faulted

10.1.8 Extended speed and torque feedback

Input assembly object 73
The scanner must be configured for 6 Rx bytes (or 3 Rx words) if this input assembly
object is selected.
Table 10.9 Extended speed and torque feedback
Data word Function
Word 0 Basic status word (See below)
Word 1 SpeedActual (See status word)
Word 2 TorqueActual (See status word)
The extended status word uses a full 16-bit word, with the bits having functions as
shown below.
b15 b14 b13 b12 b11 b10 b9 b8
DriveState

b7 b6 b5 b4 b3 b2 b1 b0
At RefFrom CtrlFrom
Ready Running2 Running1 Warning Faulted
Reference Net Net

58 SI-DeviceNet User Guide

Issue Number: 3
 information
11 DeviceNet Objects

Safety
The Object Model has the following object classes present.

Introduction
Table 11-1 Supported Objects
Class
Object Class No. of instances Effect on behaviour
Code
Identity 1 (0x01) Supports the device reset service

Mechanical
installation
Message Router 2 (0x02) 1 Internally routes messages
DeviceNet 3 (0x03) Configures device attributes
Assembly 4 (0x04) 64 Defines I/O data format, i.e parameter mapping

installation
Electrical
Connection 5 (0x05) 2 Logic ports into or out of the drive
Motor Data 40 (0x28) 2 Defines the motor data
Control Supervisor 41 (0x29) Manages drive functions, operational states and control
1
AC/DC Drive 42 (0x2A) Provides drive configuration

Getting
started
Provides an interface to all drive parameters
CT Group 100 (0x64) Be aware that menu 200 is used to access menu 0(Setup
menu)
Provides a shortcut to access the local slot parameters

Parameters
CT Local slot 101 (0x65) <No. of menus> Be aware that menu 200 is used to access menu 0(Setup
menu)
102 (0x66) Provides an interface to option slot 1-4 parameters
CT Slot 1-4 - Be aware that menu 200 is used to access menu 0(Setup

Non cyclic
105 (0x69) menu)

data
11.1 Identity Object

status word
Control /
Class: 0x01 (1)
This object provides identification of and general information about the device.
11.1.1 VendorID

EDS Files
Name: VendorID
Class 0x01 Default 257
Instance 0x01 Data Type UINT

Advanced
Features
Attribute 0x01 Access Get
Returns the Vendor ID code, which is 0x101 (257) for Control Techniques.
11.1.2 DeviceType DeviceNet
Objects

Name: DeviceType
Class 0x01 Default 2
Instance 0x01 Data Type UINT
Diagnostics

Attribute 0x02 Access Get

Returns the Device Type code.
Glossary Of
Terms
Index

SI-DeviceNet User Guide 59

Issue Number: 3
 11.1.3 ProductCode
Name: ProductCode
Class 0x01 Default See below
Instance 0x01 Data Type UINT
Attribute 0x03 Access Get
Identifies the current drive configuration, and is used to link a node to the installed EDS
files. ProductCode is calculated as shown below.
Table 11-2 Generic ProductCode
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Variant Drive Mode
0 Drive Type 0
Pr 11.028 (Pr 11.084) - 1
Drive Type returns the code for the product (i.e. the drive). This is 2 for Unidrive M600 to
M810, and 3 for Unidrive M100 to 400.
Pr 11.028 returns the drive derivative number.
Pr 11.084 returns the drive operating mode, e.g. Open-loop = 1, RFC-A = 2, RFC-S = 3,
Regen = 4, etc.
In advanced mode, ProductCode is calculated as shown below.
Table 11-3 Advanced ProductCode
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
((Pr 11.029/100) * 3) +
Product Pr 11.084 Slot X Slot Y
Local Slot
Pr 11.029 returns the major software revision number.
Local Slot indicates the slot in which the SI-DeviceNet is installed: 0 = slot 1, 1 = slot 2,
2 = slot 3.
Pr 11.084 returns the drive operating mode, e.g. open loop, closed loop, servo, etc.
Slot X indicates the family of installed in the lowest numbered slot, excluding the slot
where this SI-DeviceNet is installed. Slot X = Pr MM.001/100.
Slot Y indicates the family of installed in the highest numbered slot, excluding the slot
where this SI-DeviceNet is installed. Slot Y = Pr MM.001/100.

60 SI-DeviceNet User Guide

Issue Number: 3
 11.1.4 Revision

information
Safety
Name: Revision
Class 0x01 Default N/A
ARRAY of

Introduction
Instance 0x01 Data Type
USINT
Attribute 0x04 Access Get

Identifies the revision of the drive. Revision is calculated as shown below.

Mechanical
installation
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
((Pr 11.029 mod 1000000) / 10000 +1) 0 127

11.1.5 SerialNumber

installation
Electrical
Name: SerialNumber
Class 0x01 Default N/A
Instance 0x01 Data Type UDINT

Getting
started
Attribute 0x06 Access Get
Returns a serial number of the SI-DeviceNet. This value is entered during production,
and cannot be edited. The serial number of the SI-DeviceNet can also be read from

Parameters
Pr MM.004 and Pr MM.005.
11.1.6 ProductName
Name: ProductName

Non cyclic
data
Class 0x01 Default SM DeviceNet
SHORT_STRIN
Instance 0x01 Data Type
G

status word
Control /
Attribute 0x07 Access Get
Returns a short string to indicate the Product Name. The SI-DeviceNet returns the string
“SI DeviceNet”.

EDS Files
Advanced
Features
DeviceNet
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 61

Issue Number: 3
11.2 SI-DeviceNet Object
Class: 0x03 (3)
The DeviceNet Object provides the configuration and status of the SI-DeviceNet port.
11.2.1 MAC-ID
Name: MAC-ID
Class 0x03 Default 63
Instance 0x01 Data Type USINT
Attribute 0x01 Access Get/Set
The MAC-ID is read from Pr S.01.004 at power up and reset. When this attribute is
written to, the SI-DeviceNet will update the MAC-ID in Pr S.01.004 and reset, causing
the new value to take effect immediately.
11.2.2 DataRate
Name: DataRate
Class 0x03 Default 0
Instance 0x01 Data Type USINT
Attribute 0x02 Access Get/Set
The Data Rate is read from Pr S.01.007 at power up and reset. When this attribute is
written to, the SI-DeviceNet will update the Data Rate in Pr S.01.007. The new value is
not stored automatically, and the SI-DeviceNet is not reset.
Table 11-4 shows the attribute values for each data rate.
Table 11-4 DeviceNet data rate
Setting bits/sec
0 125K
1 250K
2 500K

11.2.3 AllocationByte
Name: AllocationByte
Class 0x03 Default 0
Instance 0x01 Data Type USINT
Attribute 0x05 Access Get
Returns 2 bytes of information. The low byte contains the Allocation Byte, with each bit
assigned as shown in the table below.
The high byte indicates the MAC-ID of the master device which allocated the Master/
Slave pre-defined connection set. A value of 255 means the pre-defined Master/Slave
connection set has not yet been allocated.
Table 11-5 Allocation byte
Bit Action
0 Explicit Message
1 Polled
2 Strobed (Not supported)
3 Reserved

62 SI-DeviceNet User Guide

Issue Number: 3
 Bit Action

information
Safety
Change of State (Not
4
supported)
5 Cyclic (Not supported)

Introduction
6 Acknowledge Suppression
7 Reserved

Mechanical
installation
11.3 Motor Data Object
Class: 0x28 (40)
11.3.1 MotorType

installation
Electrical
Name: MotorType1
Class 0x28 Default 7
Instance 0x01 Data Type USINT
Attribute 0x03 Access Get/Set

Getting
started
Name: MotorType2
Class 0x28 Default 7

Parameters
Instance 0x02 Data Type USINT
Attribute 0x03 Access Get/Set

There are 2 instances of the Motor Data object. Instance 1 will represent the Menu 5

Non cyclic
motor information (Motor Map 1) and instance 2 will represent the menu 21 motor map

data
(Motor Map 2). The instance being used by the other dependant DeviceNet objects will
be determined by Pr 21.015. Pr 21.015 is polled in the background task, so the user
should be aware that during motor map changeover, the rpm speed reference might not

status word
Control /
be accurate.
MotorType1 is linked directly to Pr S.01.040, and MotorType2 is linked directly to
Pr S.01.041.

EDS Files
Table 11-6 Supported motor types
Pr S.01.040,
Motor Type
Pr S.01.041
2 Field Controlled DC Motor

Advanced
Features
6 Wound Rotor Induction motor
7 Squirrel Cage Induction Motor (default)
9 Sinusoidal PM BL motor
DeviceNet
Objects

10 Trapezoidal PM BL motor
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 63

Issue Number: 3
 11.3.2 RatedCurrent
Name: RatedCurrent1
Class 0x28 Default Pr 05.007
Instance 0x01 Data Type USINT
Attribute 0x06 Access Get/Set
Name: RatedCurrent2
Class 0x28 Default Pr 21.007
Instance 0x02 Data Type USINT
Attribute 0x06 Access Get/Set
Specifies the rated current of the motor in Amps. Instance 1 is mapped to Pr 05.007 in
the drive, while instance 2 is mapped to Pr 21.007.
Set Pr 05.007 = RatedCurrent1 * 10
Get RatedCurrent1 = Pr 0.507 / 10
Set Pr 21.007 = RatedCurrent2 * 10
Get RatedCurrent2 = Pr 21.007 / 10
11.3.3 RatedVoltage
Name: RatedVoltage1
Class 0x28 Default Pr 05.009
Instance 0x01 Data Type USINT
Attribute 0x07 Access Get/Set
Name: RatedVoltage2
Class 0x28 Default Pr 21.009
Instance 0x02 Data Type USINT
Attribute 0x07 Access Get/Set
Specifies the rated motor voltage in Volts. Instance 1 is mapped directly to Pr 05.009 in
the drive, and instance 2 is mapped directly to Pr 21.009.
11.3.4 RatedFreq
Name: RatedFreq1
Class 0x28 Default
Instance 0x01 Data Type USINT
Attribute 0x09 Access Get/Set
Name: RatedFreq2
Class 0x28 Default
Instance 0x02 Data Type USINT
Attribute 0x09 Access Get/Set
Specifies the rated motor frequency in Hertz. Instance 1 is linked to Pr 05.006 in the
Unidrive M and instance 2 is linked to Pr 21.006.
Set Pr 05.006 = RatedFreq1 * 10
Get RatedFreq1 = Pr 05.006 / 10
Set Pr 21.006 = RatedFreq2 * 10
Get RatedFreq2 = Pr 21.006 / 10

64 SI-DeviceNet User Guide

Issue Number: 3
 11.3.5 BaseSpeed

information
Safety
Name: BaseSpeed1
Class 0x28 Default Pr 05.008
Instance 0x01 Data Type USINT

Introduction
Attribute 0x0F Access Get/Set
Name: BaseSpeed2
Class 0x28 Default Pr 21.008

Mechanical
installation
Instance 0x02 Data Type USINT
Attribute 0x0F Access Get/Set
Specifies the base speed of the motor in rpm. Instance 1 is mapped directly to Pr 05.008

installation
Electrical
in the drive, and instance 2 is mapped directly to Pr 21.008.
11.3.6 Motor2Select
Name: Motor2Select

Getting
started
Class 0x28 Default
Instance 0x01 Data Type USINT
Attribute 0x64 Access Get/Set

Parameters
Selects between Motor Map 1 and Motor Map 2 in the drive.
Set Pr 11.045
Get Pr 21.015

Non cyclic
data
11.4 Control Supervisor
Class: 0x29 (41)

status word
Control /
11.4.1 RunFwd
Name: RunFwd
Class 0x29 Default

EDS Files
Instance 0x01 Data Type USINT
Attribute 0x03 Access Get/Set
Set to 1 to run the drive in the forward direction.

Advanced
Features
Get/Set Pr 06.042 bit 1
11.4.2 RunRev
Name: RunRev
DeviceNet
Objects

Class 0x29 Default

Instance 0x01 Data Type USINT
Attribute 0x04 Access Get/Set
Diagnostics

Set to 1 to run the drive in the reverse direction.

Get/Set Pr 06.042 bit 3
Glossary Of
Terms
Index

SI-DeviceNet User Guide 65

Issue Number: 3
 11.4.3 NetCtrl
Name: NetCtrl
Class 0x29 Default
Instance 0x01 Data Type USINT
Attribute 0x05 Access Get/Set
Switches the drive between terminal and fieldbus control.
Get/Set Pr 06.042 bit 7
Set False terminal control
Set True fieldbus control
11.4.4 State
Name: State
Class 0x29 Default N/A
Instance 0x01 Data Type USINT
Attribute 0x05 Access Get
This returns a code to indicate the current operating state of the drive.
Table 11-7 Device state
State DeviceNet state Drive state
1 Startup This state is skipped on
2 Not_Ready Inhibit
3 Ready Ready
Run or Stop (stop is only enabled by default in Servo
4 Enabled
mode)
5 Stopping Deceleration or Injection
6 Fault_Stop AC_UU (this will only occur if Mains Loss is enabled)
7 Faulted Tripped
All other drive states, e.g. Scan, Orienting, Regen
0 Vendor Specific
Active, etc.

11.4.5 RunningFwd
Name: RunningFwd
Class 0x29 Default
Instance 0x01 Data Type USINT
Attribute 0x07 Access Get
Indicates that the drive is running in the forward direction.
Get True (Pr 10.040 & 0x2002) == 0x0002
Get False (Pr 10.040 & 0x2002) != 0x0002

66 SI-DeviceNet User Guide

Issue Number: 3
 11.4.6 RunningRev

information
Safety
Name: RunningRev
Class 0x29 Default
Instance 0x01 Data Type USINT

Introduction
Attribute 0x08 Access Get
Indicates that the drive is running in the reverse direction.
Get True (Pr 10.040 & 0x2002) == 0x2002

Mechanical
installation
Get False (Pr 10.040 & 0x2002) != 0x2002
11.4.7 Faulted
Name: Faulted

installation
Electrical
Class 0x29 Default
Instance 0x01 Data Type USINT
Attribute 0x0A Access Get

Getting
started
Indicates that the drive is tripped, i.e. not OK
Get Pr 10.001
11.4.8 FaultRst

Parameters
Name: FaultRst
Class 0x29 Default
Instance 0x01 Data Type USINT

Non cyclic
Attribute 0x0C Access Set

data
Resets the drive from a tripped condition.
Set True Pr 10.038 = 100

status word
Control /
Set False No action
11.4.9 FaultCode
Name: FaultRst

EDS Files
Class 0x29 Default N/A
Instance 0x01 Data Type USINT
Attribute 0x0D Access Set

Advanced
Features
If the drive is tripped, the fault code is obtained from parameter Pr 10.020 in the drive. If
the fault code in Pr 10.020 is one of the following, the table gives the appropriate ODVA
code, otherwise the error code will be returned as 0x1000 + Pr 10.020. DeviceNet

Fault codes
Objects

Drive fault code ODVA fault code

2 0x3210
Diagnostics

3 0x2300
4 0x7112
6 0x9000
Glossary Of

20 0x2310
Terms

21 0x4300
26 0x5112
32 0x3130
Index

SI-DeviceNet User Guide 67

Issue Number: 3
 11.4.10CtrlFromNet
Name: CtrlFromNet
Class 0x29 Default
Instance 0x01 Data Type USINT
Attribute 0x0F Access Get
Indicates that the drive is operating under fieldbus control.
Get Pr 06.042 bit 7 & Pr 06.043
11.4.11 DriveEnable
Name: DriveEnable
Class 0x29 Default
Instance 0x01 Data Type USINT
Attribute 0x0F Access Get/Set
Enables the drive. This puts the Drive into the “Ready” state, allowing the RunFwd and
RunRev attributes to control the drive. RunFwd and RunRev will have no effect if
DriveEnable is not set to 1.
Get/Set Pr 06.042 bit 0

NOTE The external hardware enable signal must also be present before the drive will go to the
Ready state.

11.5 AC/DC Drive Object

Class: 0x2A (42)
11.5.1 AtReference
Name: AtReference
Class 0x2A Default
Instance 0x01 Data Type USINT
Attribute 0x03 Access Get
Indicates that the drive is running at the requested speed.
Get Pr 10.006
11.5.2 NetRef
Name: NetRef
Class 0x2A Default
Instance 0x01 Data Type USINT
Attribute 0x04 Access Get/Set
Selects the source of the speed reference. Analog input 1 is used as the speed
reference when running under local control, with Digital Speed Reference 1 being used
as the speed reference for network control.
Get/Set Pr 06.042 bit 8
Set False analog speed reference
Set True digital speed reference
The reference can only be changed between local and remote when the drive is
configured in speed control mode. If a change is requested when in torque mode then a
‘Device state conflict’ error code 10h will be returned.

68 SI-DeviceNet User Guide

Issue Number: 3
 11.5.3 DriveMode

information
Safety
Name: DriveMode
Class 0x2A Default
Instance 0x01 Data Type USINT

Introduction
Attribute 0x06 Access Get/Set
DriveMode does not allow the operating mode of the drive to be changed. Pr 04.011 will
be written to as shown in Table 11-9, provided that the drive is already in the correct

Mechanical
installation
operating mode.
Table 11-8 Get DriveMode
DriveMode Drive Mode Pr 11.031 Pr 04.011

installation
Electrical
1 Open Loop Speed 0, 1 0
2 Closed Loop Speed 2, 3 0
3 Torque Control N/A 1
0 User Defined 4 0

Getting
started
Table 11-9 Set DriveMode
DriveMode Drive Mode Pr 11.031 Pr 04.011 Comment

Parameters
0 Vendor Specific 4 N/A Pr 11.031 will never be changed
1 Open Loop Speed 0, 1 0 by setting the DriveMode
2 Closed Loop Speed 2, 3 0 attribute. An error (0x10) will be
3 Torque Control 0, 1, 2, 3 1 generated if the requested

Non cyclic
4 Process Control N/A DriveMode value corresponds to

data
5 Position Control N/A the current drive operating mode.

11.5.4 SpeedActual

status word
Control /
Name: SpeedActual
Class 0x2A Default
Instance 0x01 Data Type USINT

EDS Files
Attribute 0x07 Access Get
Returns the actual speed of the motor in RPM. The source of the motor speed depends
on the operating mode of the drive.

Advanced
Features
Get Pr 05.004 (Open Loop)
Get Pr 03.002 (Closed Loop, Servo)
11.5.5 SpeedRef DeviceNet
Objects

Name: SpeedRef
Class 0x2A Default
Instance 0x01 Data Type USINT
Diagnostics

Attribute 0x08 Access Get/Set

Sets the speed reference in RPM. As the drive uses units of Hz for speed, these values
are converted when reading from or writing to this attribute.
Glossary Of

Set Pr 01.021 = (RPM * Pole Pairs) / 6 (Open Loop)

Terms

Get RPM = (Pr 02.001 * 6) / Pole Pairs (Open Loop)

Get/Set Pr 01.021 * 10 (Closed Loop, Servo)
Index

SI-DeviceNet User Guide 69

Issue Number: 3
 11.5.6 TorqueActual
Name: TorqueActual
Class 0x2A Default
Instance 0x01 Data Type USINT
Attribute 0x0B Access Get
Returns the actual load on the motor as a percentage of the rated motor load. This
attribute has 1 decimal place fixed precision, so a value of 1000 represents 100.0 %
load.
Get Pr 04.020

11.5.7 TorqueRef
Name: TorqueRef
Class 0x2A Default
Instance 0x01 Data Type USINT
Attribute 0x0C Access Get/Set
Sets the load (torque) reference as % of rated motor load (torque). This attribute has 1
decimal place fixed precision, so a value of 1000 represents 100.0 % load.
Set Pr 04.008 = TorqueRef / 10
Get Torque Ref = Pr 04.008 * 10

11.5.8 RefFromNet
Name: RefFromNet
Class 0x2A Default
Instance 0x01 Data Type USINT
Attribute 0x0C Access Get
Indicates the source of the speed reference.
TRUE if Pr 01.049 = 3 and Pr 01.050 = 1
FALSE otherwise.

70 SI-DeviceNet User Guide

Issue Number: 3
11.6 Control Techniques Object

information
Safety
Class code: 0x64 (100)
The Control Techniques object provides access to all drive parameters. For example,
parameter Pr 04.020 would be accessed as Class 100, Instance 4, Attribute 20.

Introduction
Table 11-10 Supported objects
Instance Menu Name
1 (0x01) 1 Speed reference.

Mechanical
installation
2 (0x02) 2 Ramp control.
3 (0x03) 3 Speed control.
4 (0x04) 4 Current control.
5 (0x05) 5 Motor control.

installation
Electrical
6 (0x06) 6 Sequencing.
7 (0x07) 7 Analog I/O.
8 (0x08) 8 Digital I/O.

Getting
9 (0x09) 9 Logic.

started
10 (0x0A) 10 Drive status.
11 (0x0B) 11 Drive set-up.

Parameters
12 (0x0C) 12 Programmable thresholds.
13 (0x0D) 13 Position control.
14 (0x0E) 14 Process PID loop.
15 (0x0F) 15 Slot 1 configuration.

Non cyclic
16 (0x10) 16 Slot 2 configuration.

data
17 (0x11) 17 Slot 3 configuration.
18 (0x12) 18 User application menu 1.

status word
19 (0x13) 19 User application menu 2 (not on M100-M400).

Control /
20 (0x14) 20 User application menu 3 (not on M100-M400).
21 (0x15) 21 Second motor map.
200 0 Menu 0.

EDS Files
Advanced
Features
DeviceNet
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 71

Issue Number: 3
12 Diagnostics
12.1 Overview
This section provides basic diagnostic information intended to resolve the most
common problems encountered when setting up an SI-DeviceNet module on a
DeviceNet network.
A high percentage of problems reported are basic set-up problems which can usually be
solved by reading the information in this chapter. If after reading this chapter you are still
experiencing problems, please contact your supplier for support.
12.1.1 Drive trip display codes
If the option module detects an error during operation, it will force a trip on the drive.
However, the trip string displayed on the drive will only indicate which slot initiated the
trip. The exact reason for the trip will be indicated in the drive trip code parameters
(Pr 10.020 and Pr 10.070).
Table 12-1 shows the possible trips that will be displayed on the drive when a problem is
detected with the option module or when the option module initiates a trip.
Table 12-1 Drive trip display codes

Trip Description
The drive has detected that an option module is present but is unable
SlotX HF
to communicate with it due to a hardware fault.
SlotX Error User trip generated by the option module
SlotX Not This trip will occur if a drive slot was previously configured with an
Fitted option module but on power up, no option module was detected.
This trip will occur if a drive slot was previously configured with an
option module but on power up, a different option module was
detected. Replacing the option module with another one of the same
SlotX Different
ID number will not initiate this trip.
The trip will also occur if an option module is installed to a previously
unused slot.

72 SI-DeviceNet User Guide

Issue Number: 3
 12.1.2 Module error codes

information
Safety
If the option module detects an internal error during operation, it will force a trip on the
drive and provide a sub-trip string for a clearer definition of the trip. The table below
shows the possible module error codes.

Introduction
Table 12-2 Module error codes
Value Text Description
200 SW fault Software fault

Mechanical
installation
201 BG Orun Background task overrun
202 FW invalid Invalid firmware for hardware version
203 Drv unknown Unknown drive type

installation
Electrical
204 Drv unsupported Unsupported drive type
205 Mode unknown Unknown mode
206 Mode unsupported Unsupported mode
207 FLASH corrupt Corrupted Non-volatile Flash

Getting
started
208 Dbase init Database initialization error
209 FS init File system initialization error

Parameters
210 Memory alloc Memory allocation error
211 Filesystem File system error
212 Configuration Configuration file error
213 OHt Overheated

Non cyclic
data
214 TO drv The drive has not responded with the watchdog period
215 eCMP eCMP comms failure
216 TO eCMP slot 1 Slot 1 eCMP timeout

status word
Control /
217 TO eCMP slot 2 Slot 2 eCMP timeout
218 TO eCMP slot 3 Slot 3 eCMP timeout
219 TO eCMP slot 4 Slot 4 eCMP timeout

EDS Files
220 Fact Setting Missing factory setting
221 Config Load Error loading saved configuration file
Failed to update parameter after drive mode being
222 RT Config

Advanced
Features
changed
223 Read Par Failed to read parameter during cyclic communication
224 Write Par Failed to write parameter during cyclic communication DeviceNet
Objects

12.1.3 DeviceNet error codes

If the SI-DeviceNet module detects a DeviceNet error during operation, it will force a trip
Diagnostics

on the drive and provide a sub-trip string for a clearer definition of the trip. The table
below shows all possible SI-DeviceNet error codes.
Table 12-3 DeviceNet network error codes
Glossary Of

Value Text Description

Terms

0 No trip No trip
100 Link Loss The link to the network has been lost
101 Bus Off The CAN layer of the module has entered the Bus Off state
Index

SI-DeviceNet User Guide 73

Issue Number: 3
 12.1.4 SI-DeviceNet network diagnostic
The operating status of the SI-DeviceNet module can be viewed in the network
diagnostic parameter (Pr S.01.006). All possible values of this parameter are described
in Table 12-4.
Table 12-4 SI-DeviceNet network operating status

Value Text Description

0 Network OK Network ok/healthy
The SI-DeviceNet has initialized correctly and is waiting
1 Init OK
for the DeviceNet master to initialize communications.
No cyclic data has been recognized. This could be due to
2 No Cyclic the length of the mapping data is not equal to the master
setup.
A part of the SI-DeviceNet initialization sequence was not
3 Init Failed successful. If this fault persists after a power-cycle,
replace the SI-DeviceNet.
Fault found in the communications of the module. This
4 Comm Fault could be due to different devices being configured to use
different baud rates.
5 No 24 V No 24 V external PSU has been detected.
6 Baud detecting Automatic baud rate detection is in progress.
7 Initializing The module is currently initializing.

74 SI-DeviceNet User Guide

Issue Number: 3
 12.1.5 Mapping Status

information
Safety
If the DeviceNet Network Diagnostic parameter (Pr S.01.006) indicates "Init Failed", a
mapping configuration error has been could have been detected. The reason for the
error is indicated by the SI-DeviceNet input mapping status parameter (Pr S.01.022)

Introduction
and the SI-DeviceNet output mapping status parameter (Pr S.01.023).
When a mapping error has been corrected, reset the SI-DeviceNet module by setting
PrS.01.002 or MM.007 to On (1).
The mapping error codes are described in Table 12-5.

Mechanical
installation
Table 12-5 Mapping error codes

Value Text Description

installation
Electrical
0 No error No error has been detected during mapping initialisation
1 Par impossible The parameter may not exist or may not be readable
2 Hole in mapping Cyclic data mapping parameters are not contiguous
Two or more cyclic data mapping configuration

Getting
started
3 Dup mapping parameters have been configured with the same
destination parameter reference
The length of the mapped parameters exceeds the length

Parameters
4 Length exceed
of the selected assembly object
5 Obj not support The selected assembly object is not supported
Pre & If the predefined object is selected, the data alignment
6

Non cyclic
uncompress must be set to 16 bits

data
The IN and OUT objects both must be predefined objects,
7 Type unmatched
or neither

status word
8 Memory fault Failed to allocate memory for mapping

Control /
9 No mapping No parameter is assigned to the mapping
10 Reserved Reserved

EDS Files
12.1.6 Alarms
If the SI-DeviceNet detects an alarm during operation, it will cause the drive to display
the appropriate alarm on the drive keypad. If more than one alarm is present, it will be
shown as “first-in-first-out” (FIFO) order.

Advanced
Features
Value Text Description
0 No alarm No alarm.
1 User Prog A user program alarm has been generated.
DeviceNet
Objects

2 eCMP An eCMP alarm has been generated.

3 FS Usage A file system alarm has been generated.
Diagnostics

4 Too Hot Module temperature is too high.

5 In Mapping Error with Input mapping setup.
6 Out Mapping Error with Output mapping setup.
Fieldbus Initialization failed, possibly due to external 24 V
Glossary Of

7 Fbus Init
Terms

missing or baud rate detection failed.

8 Read Err Error during reading from a mapped parameter.
9 Write Err Error during writing to a mapped parameter.
Index

SI-DeviceNet User Guide 75

Issue Number: 3
13 Glossary Of Terms
Address: This is the unique network identification given to a networked device to allow
communication on a network. When a device sends or receives data the address is
used to determine the source and the destination of the message.
Alignment: By default SI-DeviceNet transmits values as 32 bits on the network. It is
possible by using alignment to reduce the number of bits transmitted when sending 16-
bit (or smaller) values on the network to 16-bit (32-bit values will still be transmitted as
32-bit values). This has the advantage of reducing the volume of traffic on the network
and allowing more parameters to be mapped within SI-DeviceNet.
Bit: A binary digit, this may have the value of 1 or 0.
Byte: A collection of 8 binary digits that collectively store a value. This may be signed or
unsigned.

CAN: The base network used for DeviceNet. The DeviceNet module does not support
CAN commands.

DeviceNet: Builds on the basic CAN protocol by offering higher level functionality.
Casting: The process of changing between data sizes without changing the value
represented, e.g. changing from 16-bit to 32-bit.

Consistency: Describes how data is transmitted between nodes on the network. If data
is consistent it is transmitted from node to node as a single entity. Thus preventing data
corruption where multiple bytes are transmitted or received individually.
Control word: A collection of binary digits that are used to control the drive. Features
typically include directional controls, run controls and other similar functions.

Cyclic data: This consists of values that are sent at regular or cyclic intervals across the
network. A typical use of cyclic data would be the transmission of a speed reference or a
control word.

Data format: Determines the quantity and function of the data sent and received across
the network.

Data rate: Determines the communication speed of the network, the higher the value
the more data can be sent across the network in the same time period.

Device: A piece of equipment connected to a network, this may be any type of

equipment including repeaters, hubs, masters or slaves.

Double word: A 32-bit word, this may be signed or unsigned.

Earthing/Grounding: Describes the electrical safety or shielding connections for the

module.

Event task: A special way to use a message or change of state to trigger a software
routine.

IN data: Data that is returned from a slave device to the DeviceNet master.

76 SI-DeviceNet User Guide

Issue Number: 3
 information
Long word: A 32-bit data word that may be signed or unsigned.

Safety
Mapping: The process of linking DeviceNet values to parameters within the drive.

Introduction
Master: The controlling device on the network, generally this will include programming
features.

Network Loss Trip: A method to determine when a node has lost contact with the

Mechanical
installation
master.

Node: A device on the network. This may be either a device such as a drive or part of

installation
the network such as a repeater.

Electrical
Non-Cyclic Data: Data that is requested or sent by the master as required. This is not
sent on a regular basis and generally allows access to any parameter. This is useful for
occasional changes or configuration purposes.

Getting
started
Object Dictionary: A collection of the objects that are supported by the product.

Parameters
Poll rate: The rate at which cyclic data is sent and received on the network.

Response ID: The response code of the message received when using PPO4 word
non-cyclic communication.

Non cyclic
data
Scan rate: See Poll rate in this section.

status word
Shielding: A connection to provide additional immunity to noise used on a network

Control /
cable.

Segment: An electrically separate part of the network. Each segment requires correct

EDS Files
termination to ensure reliable operation. Due to electrical limitations the maximum
number of devices on a segment is limited to 32.

Slave: A device on the DeviceNet network such as a drive or sensor. A slave device will

Advanced
Features
only respond to messages from a master.

Status word: A value that denotes the status of the drive. Each bit within the word will
have a specific meaning.
DeviceNet
Objects

Task ID: The code used to describe the purpose of a message using PPO 4 word non-
cyclic communication.
Diagnostics

Termination: This is used at both ends of a network segment to prevent reflections and
reduce noise.
Glossary Of

Watchdog: A method used to determine if a communication system is ok/healthy. A

Terms

typical watchdog scheme uses a handshaking system to check both the master and
slave are participating in communications.

Word: A collection of 16 binary digits.

Index

SI-DeviceNet User Guide 77

Issue Number: 3
 Index
A
Above set speed .........................................................................................53
At speed .....................................................................................................52
B
Back-up power supply ................................................................................11
Below set speed .........................................................................................52
C
Cable ..........................................................................................................18
Cautions .......................................................................................................6
Conformance certificate .............................................................................12
Control and status words ............................................................................50
Control Techniques Object .........................................................................71
Control word ...............................................................................................50
Control word bit functions ...........................................................................51
Current limit ................................................................................................53
Cyclic data ..................................................................................................49
D
DeviceNet cable .........................................................................................18
DeviceNet ground point ..............................................................................20
DeviceNet network termination ..................................................................19
Drive active .................................................................................................52
Dynamic brake active .................................................................................53
E
Electrical installation ...................................................................................17
Electrical safety ............................................................................................6
Explicit parameter access ..........................................................................49
External power supply ................................................................................18
External supply ...........................................................................................17
G
General installation .....................................................................................14
General specification ..................................................................................11
Generic EDS files .......................................................................................54
Getting started ............................................................................................21
Glossary of terms .......................................................................................76
H
Hardware enable ........................................................................................50
M
Maximum network length ...........................................................................20
Minimum node to node cable length ..........................................................20
Module menu 0 - Module Information .........................................................30
Module menu 1 - DeviceNet Setup ............................................................33
Module menu 2 ...........................................................................................45
Module menu 3 ...........................................................................................46
Module menu 4 ...........................................................................................47

78 SI-DeviceNet User Guide

Issue Number: 3
 O

information
Option Module identification .......................................................................12

Safety
P
Polled words ...............................................................................................39

Introduction
Q
Quick start chart SI-DeviceNet ...................................................................22
R

Mechanical
installation
Regenerating ..............................................................................................53
Running at or below minimum speed .........................................................52
S

installation
Electrical
SI-DeviceNet cable shield connections ......................................................19
SI-DeviceNet connections ..........................................................................18
SI-DeviceNet network loss trip ...................................................................55
SI-DeviceNet terminal descriptions ............................................................17

Getting
started
Spurs ..........................................................................................................20
Status word ................................................................................................52
T

Parameters
Termination ................................................................................................19
W
Warnings ......................................................................................................6

Non cyclic
data
Z
Zero speed .................................................................................................52

status word
Control /
EDS Files
Advanced
Features
DeviceNet
Objects
Diagnostics
Glossary Of
Terms
Index

SI-DeviceNet User Guide 79

Issue Number: 3
0478-0032-03